Preheat oven to 200 °C.
Toss the bananas with the brown sugar and butter in a baking dish. Bake for 35-40 minutes, stirring once during baking, until the bananas are browned and cooked through.
Scrape the bananas and the thick syrup in the baking dish into a blender. Add the milk, cream, granulated sugar, lemon essence, lemon juice and salt, and purée until smooth.
Quickly scrape else the melted sugar will harden, making it difficult to scrape later.
Transfer to a container and place in freezer. After 2 hours, take it out and blend again. If too hard, leave outside until thawed and then proceed or whisk it.
Repeat this step 2-3 times every 2 hours. The idea is to remove as much water crystals from the ice cream as possible.
After 2-3 repeat cycle of blending, place it the container in freezer & allow to set overnight. Serve
chilled & enjoy with sauce.