Place the bananas, honey and brown sugar into a pot and cook over low heat for it to slowly caramelise.
Pour in the cream, milk and vanilla extract and stir slowly, then increase the heat and stir to combine. Let cool. You might notice little lumps of bananas in the mixture but don't worry, we will get rid of that later.
You can either use an ice cream maker: Place the ice cream base into the churner and churn until the mixture has thickened, the time depends on the ice cream maker so following the manufacturer's instructions. The lumps will disappear once you churn it. Transfer the ice cream to a shallow container with a lid and keep in the freezer for a few hours until solid.
Or, by hand: Pour your ice cream base into a blender or food processor and blend until completely smooth. Once it is blended, pour it into a shallow container with a lid and keep in the freezer for a few hours until solid.
Serve the ice cream with some fudge sauce if you like.
If you are not sure if your churners gets rid of all the lumps, you can blend the ice cream base before churning it.