Place peeled bananas on parchment-lined baking sheet and roast in a 350 degree oven until they are caramelized, approximately 1 hour. You want the bananas to shrivel and the liquid to caramelize, almost the texture of dried fruit leather.
Remove bananas from the oven. Mash the roasted bananas and let cool.
In a small pot, simmer cream, milk, and salt until sugar is dissolved, about 5 minutes. Remove pot from heat.
In a separate bowl, whisk yolks and vanilla extract. Whisking constantly, slowly whisk 1/3 of the hot cream into the yolks, then, whisk the yolk mixture back into the pot with the cream.
Return pot to medium-low heat and add mashed bananas. Cook until mixture is thick enough to coat the back of a spoon. Strain through a fine-mesh sieve into a large bowl. Remove as much of the fruit fibre as possible, otherwise the mouthfeel will be unpleasantly gritty.
Cool mixture at room temperature. Cover with plastic wrap and chill for at least 4 hours or overnight.
Churn cooled banana base in an ice cream machine according to manufactures directions.
Scoop finished roasted banana ice cream into a large mixing bowl and add caramel sauce, peanuts and chocolate chips. Use a wooden spoon or spatula to incorporate the caramel, nuts and chocolate chips into the banana ice cream base.
Serve Chocolate Caramel Banana Nut Ice Cream directly from the bowl as soft serve, or store in the freezer until ready to eat.
Make a delicious Chocolate Caramel Banana Nut Ice Cream Sundae by serving scoops with Banana Chocolate Chip Muffins, sliced banana and chocolate or caramel drizzle.