In a high speed blender, combine the bananas, yogurt, peanut butter, coconut milk and vanilla until a smooth puree is formed. Pour into a popsicle mold with popsicle sticks, and place in the freezer for at least 4 to 5 hours, or overnight.
Once the bars are frozen, in a tall glass wide enough to fit a popsicle, melt the chocolate with the coconut oil until a pourable consistency is achieved. I do this in the microwave in 30 seconds increments until the mix is smooth and glossy. You can also use a double broiler, if preferred.
Prepare a baking tray with parchment which will be where the chocolate covered popsicles go.
Remove the popsicle mold from the freezer, and carefully extract the ice cream bars. You can run hot water over the mold to make this easier if needed.
One at a time, remove the ice cream bars, and dunk into the chocolate until the bar is submerged, then carefully transfer to the parchment lined baking sheet. Sprinkle with crushed peanuts as desired. Repeat with the remaining bars, then place the tray in the freezer for an additional 30 minutes for the chocolate to set.
Once complete, you can store the ice cream bars in a reusable bag in the freezer for up to two months.
For a nut-free modification, use sunflower seed butter or tahini instead of peanut butter. Instead of crushed peanuts, you can use freeze dried raspberries, shredded coconut, or leave the chocolate glaze as it is.
Use silicone muffin tins or paper cups with wooden sticks if you do not have special ice cream molds.
Add a pinch of cinnamon or espresso powder to the base for an adult, elegant twist.
Stir in some frozen blueberries or vegan cookie dough chunks into the mixture for a surprise in every bite.
If you prefer, you can coat your ice cream bars in dark chocolate, vegan white chocolate, or specculoos spread.