Prepare an ice bath by adding ice and water to a large bowl. Place a Ziploc next to the ice bath until ready to use.

Place the egg yolks in a medium bowl and set aside.

In a medium steel bottomed pot, add the whole milk, heavy cream, powdered milk, banana puree granulated sugar, and ground cinnamon. Whisk the mixture vigorously until the milk powder is fully incorporated into milk and heavy cream. Turn the heat to medium/low and bring the mixture to a full simmer.

Remove from heat, whisking the entire time pour some of the milk mixture into the bowl with the egg yolks to temper. Continue to pour the milk mixture and whisk until the egg yolks are combined. Pour the entire mixture back into the pot, along the milk chocolate, semi-sweet chocolate, vanilla extract, and banana liqueur. Cook over low heat, whisking the entire time until the chocolate melts, and the mixture is thick enough to coat the back of a wooden spoon thickly. This can take anywhere from 2-6 minutes. Be sure not to let it scorch.

Strain the mixture into a Ziploc bag. Seal the Ziploc bag, immerse it in the ice bath and leave until completely cool. Churn in the ice cream maker according to manufacturer’s instructions, or place in the refrigerator overnight to steep, then churn. Transfer ice cream to a container with a tight-fitting lid and place in the freezer to harden.

To serve, drizzle with caramel sauce.

Makes a little over a quart of ice cream.