Line a freezer-safe dish with parchment paper and place in freezer.
In a food processor, add bananas, cashew butter, and vanilla extract/other flavoring. Blend until smooth, adding a tablespoon of soy milk as needed to help blend.
Take dish out of freezer and pour ice cream mixture in. Place in freezer overnight.
Make the caramel layer: add dates and peanut butter to a food processor. Blend until smooth, adding a tablespoon of soy milk as needed to help blend.
When the ice cream base is completely frozen, spread caramel layer on top. Place back into the freezer for an hour.
Melt chocolate in the microwave or double-boiler. For a softer chocolate coating, whisk in cocoa powder and warmed soy milk until smooth.
Spread chocolate over the caramel layer. Place back into the freezer to firm up, then slice into bars.
Keep in mind, if you use only melted chocolate for the chocolate layer, it will break apart and snap when slicing into bars.