01 - In a large skillet over medium heat, melt the butter until fully liquefied.
02 - Stir in the brown sugar, juice, vanilla extract, cinnamon, and salt. Cook, stirring constantly, until the sugar dissolves and the mixture begins to bubble, about 2-3 minutes.
03 - Add the banana slices to the skillet. Gently cook for 2-3 minutes, spooning the warm sauce over the bananas continuously, until they are softened but still holding their shape.
04 - Remove the skillet from heat to prevent overcooking the bananas.
05 - Divide the vanilla ice cream equally among four serving dishes or bowls.
06 - Spoon the warm bananas and caramel sauce generously over the chilled ice cream.
07 - Serve right away while the bananas are warm and the sauce is still fluid for the best temperature contrast.