Place a clean & dry shallow metal pan in the freezer.
Combine ½ of the heavy whipping cream with the yolks, pudding mix, and salt in a medium pot. Heat over low-medium heat while whisking until the mixture starts to bubble & thicken like pudding. Remove from heat and let cool (you can speed this up by placing it in a heat-resistant bowl in the refrigerator!)
Pour the remaining ½ of the cold heavy whipping cream in a large mixing bowl and whisk (preferably with a hand mixer) until it starts to thicken. Then, add the powdered sugar and continue mixing until it reaches soft peaks (the cream should hold together well when lifted on the whisk, but still be a bit droopy).
Mash the bananas and stir them into the pudding mixture. Then, gently fold the banana pudding into the whipped cream until it's combined well.
Alternately layer the ice cream mixture with crushed graham crackers. Then, place it in the freezer for at least 4 hours. Enjoy!
Notes
I recommend letting the ice cream thaw for ~10-20 minutes before scooping into it.Store in a covered container in the freezer for up to 1 week.The provided nutrition information is an estimate, the calorie accuracy is not guaranteed.