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Peel the bananas and chop them into pieces. Combine milk and cream in a medium-sized pan along with the pieces of banana and heat on low heat. As soon as the bananas are soft you can use an immersion blender to create a smooth mixture.
Use a whisk to mix the egg yolks together with the sugar in a medium-sized bowl. Slowly pour the warm banana mixture into the egg yolk. Keep on whisking to prevent it from creating lumps.
Pour the mixture back into the small saucepan and turn down the heat to the lowest setting. Keep stirring with a spatula, to prevent burning. It's best to use a silicone spatula for this, plus it's also easier to clean.
You can tell if the mixture is ready by running your (clean) finger over the spatula. If a clear path shows, it's ready. Let the mixture cool off to nearly room temperature.
Cover and put in the refrigerator until completely cooled off.
On to the most easy part of making ice cream! Pour the mixture into the ice cream maker and let it run for about 40 minutes, depending on your machine.
When done, remove the ice cream from the ice cream maker and place into the freezer. Enjoy!