01 - Place a large skillet over medium heat and add the butter. Allow it to melt completely.
02 - Stir in the brown sugar, juice, vanilla extract, cinnamon, and salt. Cook while stirring constantly until the sugar dissolves and the mixture begins to bubble, approximately 2 to 3 minutes.
03 - Add the banana slices to the skillet. Gently cook for 2 to 3 minutes, spooning the sauce over the bananas repeatedly, until they are softened but still hold their shape.
04 - Take the skillet off the heat source to stop the cooking process.
05 - Divide the vanilla ice cream equally among four serving dishes.
06 - Spoon the warm bananas and caramel sauce generously over the ice cream. Serve immediately while the sauce is still warm and the ice cream is cold.