Prep the bananas: Peel ripe bananas, slice into coins, and freeze flat on a baking sheet until solid (2–3 hours).
Transfer to a freezer bag to store.
Set up your blender: Use a high-powered blender or a food processor. Add the frozen banana slices, peanut butter, vanilla, and a pinch of salt.
Start blending: Pulse a few times to break up the bananas. Add 1 tablespoon of milk to loosen the mixture, then blend until it begins to look crumbly and sandy.
Blend to creamy: Scrape down the sides.
Blend again, adding another splash of milk as needed. Keep going until it turns smooth and soft-serve creamy.
Adjust sweetness and flavor: Taste. If you want it sweeter, add 1–2 teaspoons of maple syrup or honey.
For a chocolate version, blend in 1 tablespoon cocoa powder.
Add texture: Fold in mini chocolate chips, chopped peanuts, or a swirl of melted chocolate for crunch and contrast.
Serve now or freeze: For soft-serve, scoop and enjoy immediately. For a firmer, scoopable texture, spread into a loaf pan, press parchment on top, and freeze 1–3 hours.
Warm your scoop: If fully frozen, let the pan sit at room temp for 5–10 minutes. Warm your ice cream scoop under hot water for cleaner scoops.