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Bring to a boil over medium-high heat, watching closely and swirling the pan occasionally. Remove from the heat when the sugar mixture begins to color to a dark amber color, 5 to 7 minutes.
Cut the bananas in half lengthwise and again widthwise. Place the pieces cut-side up on a flame-resistant surface, such as a baking sheet lined with foil. Sprinkle cut sides of each banana piece generously with the sugar and apply a flame with a brulee torch. Let the sugar caramelize until deeply golden. Place the banana pieces in a serving dish and top with the ice cream, caramel and whipped cream.