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In a large non-stick saucepan on the stove pan, heat milk and bananas over medium heat. Bring to a simmer, reduce heat to low, and simmer 10 minutes. Do not let the milk boil. Take pan off heat, and allow to cool for 5 - 7 minutes.
Beat yolks and sugar in a large bowl with a hand mixer at high speed until thick and pale yellow. Set aside.
Place the cooled milk and banana mixture in a blender or food processor and puree until smooth. Return mixture to saucepan and set over very low heat.
Slowly stream half of the banana puree into the yolk/sugar mixture, whisking the whole time. This will temper the eggs. Slowly whisk the combined egg/sugar/puree mixture to the remaining warm banana puree in the saucepan. Set over low heat and cook until mixture coats back of a spoon, about 2 minutes. Stir in vanilla, salt and cream. Mix well.
Transfer the gelato base mixture to a large glass bowl. Cover with plastic wrap and place in the fridge for 4 - 6 hours, or overnight to thoroughly chill.
Transfer the chilled gelato base to the canister of an automatic gelato/ice cream machine, and churn according to directions for about 20 -30 minutes or until the desired texture is achieved.
Store in covered freezer container.