Line a baking sheet with parchment paper, then peel and slice the bananas, arranging them on the parchment paper. Place the baking sheet in the freezer for 4-8 hours until the bananas are completely frozen.
To make the ice cream, place all the bananas in the bowl of a food processor fitted with the steel blade. Process the mixture on high until smooth and creamy, scraping down the bowl as necessary to ensure an even consistency. Once smooth, add the peanut butter and blend again until fully incorporated. Pulse in the chocolate chips.
Depending on the consistency of the ice cream, either serve it immediately, or transfer it to a freezer-safe container and freeze for 1-2 hours.
Store leftovers in an airtight container in the freezer.
When serving from the freezer, allow the ice cream to soften for 5 minutes before scooping.