Prepare the Custard Base:

• In a medium saucepan over medium heat, warm the whole milk until it begins to steam but does not boil.

• In a separate bowl, whisk together the granulated sugar and egg yolks until the mixture is pale and thick.

• Slowly pour the warmed milk into the egg-sugar mixture, whisking constantly to prevent curdling.

• Return the mixture to the saucepan and cook over medium heat, stirring continuously, until it thickens enough to coat the back of a spoon (do not let it boil).

Combine with Cream and Flavorings:

• Once thickened, remove the custard from heat and pour it through a fine-mesh strainer into a clean bowl to remove any lumps.

• Stir in the heavy cream and vanilla extract.

• Allow the mixture to cool to room temperature, then cover and refrigerate until thoroughly chilled, at least 4 hours or overnight.

Incorporate Bananas and Churn:

• Once the custard base is chilled, whisk in the mashed ripe bananas until well combined.

• Pour the mixture into your ice cream maker and churn according to the manufacturer’s instructions, typically about 20-25 minutes, until it reaches a soft-serve consistency.

Freeze and Serve:

• Transfer the churned ice cream into an airtight container, press a piece of plastic wrap directly onto the surface to prevent ice crystals, and freeze until firm, approximately 2-4 hours.

• Before serving, let the ice cream sit at room temperature for a few minutes to soften slightly for easier scooping.