Because there are no egg yolks to thicken the custard, mashed bananas and peanut butter add body to this no-cook ice cream.
Combine first 3 ingredients in a large bowl, stirring until sugar dissolves. Stir in peanut butter and next 3 ingredients (through bananas). Stir in milk.
Pour mixture into the freezer can of an ice-cream freezer; freeze according to manufacturer's instructions. Spoon ice cream into a freezer-safe container; cover and freeze 1 hour or until firm.
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