Roasted Banana Ice Cream with Warm Peanut Butter Sauce

Description
Only freeze the ice cream about an hour and a half after it's finished churning for the best texture. If you make it ahead, take it out of the freezer 20 minutes before serving to soften.
 * Contributed by Catsrecipes Y-Group
 * Source: Southern Living Cookoff'' $100,000 winner 2007
 * Prep: 30 minutes + 10 minutes | Bake: 40 minutes + 5 minutes | Chill: 4 hours | Freeze: 4 hours
 * Makes 4 – 6 servings and 1½ cups of sauce

Ingredients

 * 3 medium ripe bananas, cut into ½-inch slices
 * ⅓ cup packed light brown sugar
 * 1 tbsp butter, in pieces
 * 1 cup milk
 * ½ cup heavy cream
 * 2 tbsp granulated sugar
 * 1 vanilla bean, cut in 2-inch pieces
 * ¼ tsp salt
 * ⅛ tsp ground nutmeg
 * ½ cup salted peanuts, coarsely chopped
 * Warm Peanut Butter Sauce, recipe follows
 * Garnish: chopped salted peanuts

Warm Peanut Butter Sauce

 * 1 cup sugar
 * ¾ cup milk
 * 1 tbsp light corn syrup
 * ¼ tsp salt
 * 6 tbsp creamy peanut butter
 * ½ tsp vanilla

Directions

 * 1) Preheat oven to 400°F.
 * 2) Toss together first 3 ingredients in a 2-qt baking dish, and bake at 400°F for 40 minutes or until bananas are browned and softened, stirring once after 20 minutes.
 * 3) Spoon bananas and all of syrup in baking dish in a blender or food processor; add milk and next 5 ingredients, and process 1 minute or until smooth.
 * 4) Pour mixture into an airtight container and chill at least 4 hours up to 24 hours.
 * 5) Pour mixture into freezer container of a ½ gallon ice cream maker, and freeze according to manufacturer's instructions.
 * 6) Divide ice cream between 4 chilled sundae bowls, and top with warm peanut butter sauce, garnish if desired.

Warm Peanut Butter Sauce

 * 1) Stir together first 4 ingredients in a small saucepan.
 * 2) Cook over low heat, stirring constantly, 5 minutes or until thickened and sugar is dissolved.
 * 3) Stir in peanut butter until smooth.
 * 4) Remove from heat, and stir in vanilla.
 * 5) Whisk before serving.