To make pudding, in a bowl, whisk together pudding mix and milk for 2 minutes. Cover with plastic wrap and refrigerate until set.
Cut each banana into 12 pieces (approximately 1/2-inch thick).
Place 4 vanilla wafer cookies on each of 8 plates and top with bananas. Pipe a heaping teaspoon of pudding on top and sprinkle with crumbled cookies, to garnish.