This is a simple and healthy way to make a quick desert with what's in the house. You really don't need the agave unless you want it really sweet as the bananas have a lot of natural sweetness. I got this recipe from Dr Joel Fuhrman's diet.
Banana Walnut Ice-cream
2 ripe bananas, frozen and in pieces
1/3 cup soy milk (vanilla works best)
2 Tbls chopped walnuts
Agave/maple syrup to taste (optional)
Blend all ingredients in a high power blender or food processor.