Place the peaches or apricots, pineapple juice and cinnamon in a saucepan and bring to the boil. Reduce the heat and simmer for 10 minutes, or until the fruits are soft. Cool slightly, then place in a food processor or blender and process until smooth.
Cook the whole bananas in their skins on a hot barbecue for 4–5 minutes, turning halfway through, until the skins are blackened.
Peel the bananas. Serve each with scoops of vanilla ice cream and spoonfuls of the sauce.