Prepare the Pudding: Combine the milk and vanilla pudding in a mixing bowl. Beat with an electric mixer for 2 minutes or whisk vigorously. Let it stand for 5 minutes until set. Add the sweetened condensed milk and mix until thoroughly blended. Fold half of the whipped topping into the pudding mixture.

Prepare the Bananas: Peel the bananas and slice them into 1/4-inch rounds. Put them in a bowl and gently toss with the lemon juice to prevent browning.

Assemble the Banana Pudding Layers: In a large glass bowl, trifle dish, or individual glass dessert dishes, alternated layers of pudding, sliced bananas, and vanilla wafers. Pipe or spoon the remaining whipped topping over the pudding.

Garnish and Serve: Garnish servings as desired with sliced bananas, more vanilla wafers, cinnamon sugar, or mint leaves. Enjoy!