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© Meredith Corporation. All rights reserved. Used with permission.
To prepare pudding: Bring 1 1/2 cups milk and banana slices to a simmer in a small nonreactive saucepan, then remove from heat. Cover and let stand for 1 hour. Or cool to room temperature, cover and refrigerate for up to 1 day.
Mix gelatin with the remaining 2 tablespoons milk in a medium bowl, stirring to break up any lumps. Set a fine-mesh sieve over the bowl.
Add sugar, dry milk and salt to the banana-milk mixture; cook, stirring, until the dry ingredients have dissolved and the milk is steaming hot (do not let it boil), about 5 minutes.
Pour the milk mixture through the sieve into the gelatin, pressing on the bananas to extract as much milk as possible without actually mashing the pulp through the sieve. (Use the leftover pulp in a smoothie or muffin batter, or discard.) Whisk until the gelatin is dissolved. Cover and refrigerate until firm and cold, at least 3 hours and up to 5 days.
Scrape the chilled pudding into the bowl of a stand mixer fitted with a whisk attachment and whip on medium-high. At first it will look something like cottage cheese, but continue beating until smooth, about 1 minute. Return the pudding to its original container. Combine cream, yogurt and vanilla in the bowl and beat on medium-high for 5 full minutes. Fold into the pudding.
To assemble parfaits: Spoon 1/4 cup pudding into each of 6 parfait glasses. Top with 3 or 4 banana slices and 1 1/2 tablespoons hazelnuts, then another layer of banana slices. Spoon on another 1/4 cup pudding and top with the remaining banana slices and hazelnuts.