Cook bananas in peel on gas grill over medium-high flame 5 to 7 minutes per side (until peel is dark brown).

Combine margarine, brown sugar, pineapple and cinnamon; stir until syrupy.

Add peeled, cooked bananas cut in fourths, and pineapple slices. Baste in syrup, turning until fruit is glazed. Add rum extract or rum.
Place a pineapple slice in each bowl; top with scoop of ice cream and banana sauce.

Makes 6 servings.