In a medium bowl, whisk together the pudding mix, milk and vanilla until slightly thickened. Fold in the whipped dessert topping. Divide pudding mixture evenly between eight individual ramekins or custard cups. Cover and chill 1 to 2 hours or until thoroughly chilled.
In a large nonstick skillet combine margarine and ice cream topping. Heat over medium heat until margarine is melted and caramel just starts to bubble. Add the bananas, cinnamon and pecans. Gently toss until well-coated and tender, about 2 minutes. Remove from the heat.
Spoon banana mixture over pudding in ramekins. Serve immediately.