1. Take out bananas from the freezer and let them thaw for 5-10 minutes.
2. Add all the ingredients to a food processor (or a high-speed blender). Process until smooth. Add milk if necessary. Blending until smooth and evenly mixed can take a few minutes.
3. Enjoy immediately or pour it into a non-stick loaf pan and leave it in the freezer for at least 4 hours, or until it is hard enough to scoop out.