While still keeping the skins on, cut the ends off of the bananas and then cut a slit into the skin, lengthwise. Do not cut all the way through the banana.
Place the bananas on the grill and cook until one side is black.
Flip and cook until the other side is black.
Place ice cream into bowls.
Unroll the bananas from their skins, halve, and place in bowls alongside the ice cream.
Add chocolate syrup, whipped cream, cherries and peanuts and serve.