This recipe is tweak'd from Monsieur Lebovitz's Perfect Scoop. If you own an ice cream maker, but not this book, then I don't know what you're doing with your life.
Makes about a pint
*3 ripe bananas, peeled and sliced
*1/3 cup dark brown sugar
*1 tablespoon butter, cut into small nubbins
*1 cup whole milk
*1/2 cup half & half (you can just use 1 1/2 cups whole milk; I had some H&H to get rid of)
*2 tablespoons vanilla sugar
*1 1/2 teaspoons lemon juice
*Pinch of kosher salt
Preheat the oven to 400 degrees. Place banana slices in a baking dish with the brown sugar and butter, and roast for 40 minutes, stirring once, until the bananas are nicely browned and sticky in bubbling sugar syrup. Scrape all the contents from the baking dish into a blender and add the remaining ingredients. Puree until smooth, then chill thoroughly and freeze in your ice cream maker for about 20-odd minutes or according to the manufacturer's instructions. Scrape the ice cream into a container and place in your freezer to firm up for a few hours before serving. You may refer to my post on Chocolate-Chile Sherbet for tips on how to chill the mixture, what exactly "vanilla sugar" is, and my recommended storing method.