Halve the peanut caramel bar once lengthways and once across to make 4 pieces. Cut deeply lengthways into the peeled baby bananas and push them apart a little. Transfer to a parchment-lined baking sheet. Drizzle the slices of the bananas with a little lemon juice. Insert the bars and bake the bananas in the hot oven at 200 ° on the middle rack for 10 minutes (convection not recommended). Place on dessert plates and serve with 1 scoop of vanilla ice cream each.