Place frozen bananas, cocoa powder, peanut butter, vanilla powder (or extract, and salt (if using) in the bowl of a food processor.
The mixture will start to break down and get creamy after a few minutes. If it needs a little help getting started add 1 tbsp non dairy milk and process again for another minute or two. Add another tbsp of milk if it's still not breaking down. It helps to pulse a few times towards the end instead of just letting it run if you have just a few chunks of banana left that haven't broken down.
Eat immediately before it melts OR transfer to a freezer safe container and freeze until desired consistency is reached* (1-2 hours or longer).
*If you choose to freeze this dairy free ice cream for a harder consistency, you may need to let it sit out at room temperature for 5-10 minutes (or longer depending on how long it's been in the freezer) before scooping.
This recipe can easily be doubled.