In a stand mixer combine the whole milk, sugar, vanilla extract and banana extract, spin on medium high using a whisk attachment until the sugar dissolves.
Add the heavy cream and pinch of salt, whisk on medium high to start until it starts to thicken a bit, then turn on high until it becomes almost like whipping cream.
Cover and stick in the fridge for at least an hour, or as long as overnight.
Remove and transfer the liquid to an ice cream machine. Turn on and allow to churn for about 10 minutes.
Toss in the mini peanut butter cups and chocolate covered bananas. Allow to mix until incorporated.
Cover again and pop in the freezer until it hardens.