2 cups almond milk (of course you can use soy, but the sweet nut flavor of almond is perfect)
3 very ripe bananas
1/2 cup brown sugar
2-3 tabelspoons peanut butter
1 teaspoon cinnamon
Add all ingredients into a blender or use a bowl with an immersion blender, and blend until smooth. Put into ice cream machine and let it do it's thing for 20-30 minutes. Store in an airtight plastic container. Super good and perfect with "vegan magic shell." My dog also really enjoyed this recipe.
Source of recipe: Found similar recipes online, but this is how I made it and it was awesome!