Preheat oven to 400 degrees.

In baking dish, add bananas, 1/4 cup brown sugar, and 1 tbsp unsalted butter.

Bake for 40 minutes.

Once bananas are done baking, move onto the following.

In a small bowl, combine 2 tbsp milk, and 1 tbsp cornstarch. Set aside.

Fill a large bowl with ice water. Set aside.

Make the caramel sauce recipe in a saucepan.

Once ready, over medium heat, add 1 1/2 cup milk.

Boil for 3 minutes.

Remove from head and add the cornstarch mixture.

Return to heat and thicken for 1-2 minutes.

In a blender, add banana mixture, caramel mixture, 1/4 tsp salt, 1/2 tsp vanilla, 1 tsp lemon juice, and a pinch of nutmeg.

Pour into a medium bowl and put in ice bath for 20 mins, whisking occasionally.

Cover and refrigerator for at least 4 hours (overnight preferred)

Remove from fridge and add 1 cup of milk until well combined.

Churn in ice cream maker according to directions.

Freeze until firm (at least 4 hours).

Serve! Top with walnuts if desired.