Prepare the Ice Cream: In a large mixing bowl, whisk together mashed bananas, milk, heavy cream, sugar, and vanilla extract until well combined. Add banana pudding mix and continue whisking until smooth. Pour the mixture into an ice cream maker and churn according to the manufacturer’s instructions (usually 20-25 minutes). In the last 5 minutes of churning, add crushed vanilla wafers. If you don’t have an ice cream maker, pour the mixture into a loaf pan, cover, and freeze for 4-6 hours, stirring every hour for a creamier texture.

Assemble the Cones: Once the ice cream is set, scoop it into waffle cones. Top with whipped cream, extra crushed vanilla wafers, and sliced bananas. Drizzle with caramel sauce if desired.

Serve: Enjoy immediately or freeze assembled cones for a firmer texture.