Prepare the Ice Cream Base:

In a large bowl, whisk together the mashed bananas, whole milk, heavy cream, granulated sugar, salt, and vanilla extract until the sugar is dissolved.

Chill the Mixture:

Cover the bowl and refrigerate the mixture for at least 2 hours, or overnight, to chill thoroughly.

Churn the Ice Cream:

Pour the chilled mixture into an ice cream maker and churn according to the manufacturer’s instructions, until the ice cream reaches a soft-serve consistency.

Add the Mix-Ins:

Gently fold in the crushed vanilla wafers.

If using, swirl in the caramel sauce.

Freeze the Ice Cream:

Transfer the ice cream to a freezer-safe container and freeze for at least 4 hours, or until firm.