Steps:
- Preheat the oven to 400 degrees. Slice the bananas into ½-inch pieces and toss with the brown sugar and butter. Place in a small baking dish and bake for 40 minutes, stirring once during baking. The bananas will be browned and cooked through. Scrape the bananas and caramel into a blender. Add the milk, sugar, vanilla, lemon juice and salt, and puree until smooth. Chill the mixture thoroughly in the refrigerator, then freeze in the ice cream maker according to the manufacturer's instructions.
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