In a saucepan, over medium low heat, melt the brown sugar into the butter. Add sliced bananas and saute for about 5 minutes. Stir in cinnamon and vanilla. Saute for 1 additional minute. In a blender, add the banana brown sugar mixture, 3 scoops of ice cream and a splash of milk. Blend until well mixed. Add a little more milk if needed. Pour into a glass and top with Whipped Cream. Garnish with a chunk of waffle cone. (optional)