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Beat together the banana pudding mix, heavy cream, and milk until thick. Refrigerate while preparing the French toast.
Whisk together the eggs, milk, sugar, and vanilla.
Quickly dip each Hawaiian roll into the egg mixture, coating all sides without soaking.
Cook in a buttered skillet over medium-low heat, turning until golden on every side.
In a saucepan, heat the sugar, water, and vinegar until it reaches 305°F and turns a light golden brown.
Dip the tops of each roll into the caramel and immediately sprinkle with crushed vanilla wafers.
Let the caramel shell harden completely.
Flip each roll over, poke a small hole in the bottom, and pipe in the chilled banana pudding filling.