Peel and slice the bananas, then place them on a flat tray. Freeze for at least 2 hours, or until completely frozen.
Place the frozen banana slices in a blender or food processor. Add the peanut butter, honey, vanilla extract, and a pinch of salt.
Blend until smooth and creamy, resembling soft-serve ice cream. If needed, add a splash of milk to help it blend more easily.
Stir in the coarsely chopped toasted peanuts to add a crunchy texture.
Pour the mixture into a freezer-safe container and freeze for at least 1 hour to firm up slightly.
Before serving, let it sit at room temperature for a few minutes to soften slightly and make it easier to scoop.
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