From David Lebovitz's The Perfect Scoop. Great way to use up unsused ripened bananas for a banana-forward creamy scoop!
Pre-heat oven to 200 degrees celcius
Slice bananas into 0.5", toss them in brown sugar + butter.
Bake in pre-heated oven for 40 minutes, stirring once, until bananas are browned and cooked through.
Scrape bananas and syrup into a blender. Add lemon juice, milk, sugar, salt, vanilla and blend until smooth.
Chill mixture thoroughly in fridge before churning (at least 24h if possible). Churn according to your ice cream machine's instructions.