Step 1

Preheat the oven to 400°F.

Step 2

Slice the bananas into ½-inch pieces and toss them with the brown sugar and butter in a 2-quart baking dish until the sugar dissolves into a wet caramel-colored coating. Bake for about 40 minutes, stirring once during baking, until the bananas are soft and golden brown.

Step 3

Immediately transfer the bananas and caramel syrup into a blender or food processor (if you wait too long, the caramel will begin to harden). Add the milk, granulated sugar, vanilla, lemon juice and salt, and purée until smooth. Chill the mixture thoroughly in the refrigerator.

Step 4

Give the mixture a quick whisk, then freeze in ice cream machine according to manufacturer's instructions. Transfer soft ice cream to plastic container and chill for a few hours until firm. Scoop and serve.

Step 5

Note: My only issue with this recipe is that it makes a rather small quantity of ice cream. If you double it, it makes 6 cups of ice cream base, which is too much for most standard ice cream machines. I have two bowls for my ice cream maker so I typically double the recipe and freeze it in two batches. If you only have one bowl and want to double the recipe, you can save half the base in the refrigerator overnight, then re-freeze your bowl for the second batch.