Oh yes, frozen bananas taste just like a soft serve ice cream treat to me. In fact, I think someone posted that idea on here somewhere.
Take your very ripe bananas and freeze them. When your craving ice cream take one out and let it thaw slightly. Slice and pop in the blender with a splash of milk (I use almond) and a bit of chocate syrup. (SF, if you like it). Blend and Viola' ----soft serve ice cream that's healthy and delish!!