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1
Heat the butter in a skillet over medium heat.
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2
Add the bananas, and sprinkle the bananas with the sugar.
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3
Cook over medium heat, stirring frequently, for 3 to 5 minutes, or until the bananas are soft.
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4
Combine the bananas, milk, and peanut butter in a food processor fitted with the steel blade or in a blender, and puree until smooth.
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5
Transfer the mixture to a saucepan and stir in 3/4 cup of the cream.
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6
Cook over medium heat, stirring frequently, until the mixture begins to steam; watch it carefully and make sure it does not come to a boil.
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7
While the mixture heats, combine the remaining cream, milk powder, cornstarch, salt, and vanilla in a small bowl, and stir until smooth and both of the powders have dissolved.
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8
Add the cornstarch mixture to the pan, and bring to a boil over low heat, stirring constantly.
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9
Whisk the mixture until smooth, and simmer the mixture over very low heat, stirring constantly, for 2 minutes, or until thickened.
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10
If the mixture is lumpy, strain it through a sieve.
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11
Transfer the hot liquid to a storage container and press a sheet of plastic wrap directly onto the surface of the mixture to prevent a skin from forming.
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12
Refrigerate the mixture uncovered until it is completely chilled (below 40F).
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13
Freeze the mixture in an ice cream maker according to the manufacturer's instructions.
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14
Serve immediately for a soft ice cream, or transfer the mixture to an airtight storage container and freeze until hard.
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15
Allow the ice cream to sit at room temperature for 15 minutes before serving if frozen solid.
