Banana Pudding Tacos are made with waffles and banana slices. They’re a fun dessert that only requires 5 ingredients, and make the perfect follow-up to a weeknight meal. This easy recipe with creamy banana pudding and Nilla wafer cookies is super simple to make. Make this recipe with banana pudding mix, or use your favorite banana pudding recipe instead. These dessert tacos make a fun dessert, and are best served fresh.