In a medium saucepan, whisk together milk, sugar, cornstarch, and salt. Heat over medium until it just starts to simmer and slightly thickens.

Remove from heat. Stir in the heavy cream, mashed bananas, and vanilla extract. Let cool completely — chilling in the fridge 2–3 hours is best.

Pour chilled mixture into your ice cream machine and churn according to manufacturer’s directions.

When the ice cream is nearly done, add crushed Nilla Wafers and churn just until mixed.

Transfer to a freezer container, press wax paper/plastic wrap on top, and freeze at least 2 hours to firm up.

Scoop and serve with whipped cream and extra wafers for the ultimate banana pudding vibe.