We study irradiated two-dimensional insulating bilayer honeycomb ferromagnets and antiferromagnets coupled antiferromagnetically with a zero net magnetization. The former is realized in the recently synthesized bilayer honeycomb chromium triiodide CrI 3. In both systems, we show that circularly-polarized electric field breaks time-reversal symmetry and induces a dynamical Dzyaloshinskii-Moriya interaction in each honeycomb layer. However, the resulting bilayer antiferromagnetic system still preserves a combination of time-reversal and space-inversion ( \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${\bf{P}}{\bf{T}}$$\end{document} ) symmetry. We show that the magnon topology of the bilayer antiferromagnetic system is characterized by a \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${{\bf{Z}}}_{{\bf{2}}}$$\end{document} Floquet topological invariant. Therefore, the system realizes a magnonic Floquet quantum spin Hall insulator with spin filtered magnon edge states. This leads to a non-vanishing Floquet magnon spin Nernst effect, whereas the Floquet magnon thermal Hall effect vanishes due to \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${\bf{P}}{\bf{T}}$$\end{document} symmetry. We study the rich \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${{\bf{Z}}}_{{\bf{2}}}$$\end{document} Floquet topological magnon phase diagram of the system as a function of the light amplitudes and polarizations. We further discuss the great impact of the results on future experimental realizations.