To prepare the soft serve, add the bananas, strawberries, lemon juice, maple syrup, and 1 tablespoon of nondairy milk to a blender or food processor. Blend, adding 1 tablespoon of milk at a time, as needed, until a texture similar to that of soft-serve is formed.
Transfer the ice cream to bowls, add your choice of toppings, and enjoy right away.
