Prepare a charcoal fire or preheat a gas grill to medium heat.

Slice the bananas in half crosswise, then lengthwise, creating 4 pieces per banana while keeping the peel on.

Arrange the banana pieces on a clean platter.

In a small bowl, combine sugar and ground cinnamon.

Drizzle honey onto the cut sides of the bananas.

Sprinkle the cinnamon sugar mixture over the honey-coated banana surfaces.

Let the bananas sit for 5 minutes to allow flavors to meld.

Place the banana pieces, cut side down, on the grill grates.

Grill for approximately 2 minutes, or until attractive grill marks appear.

Carefully turn the banana pieces using tongs.

Continue grilling for an additional 5 minutes, or until the peel begins to pull away from the banana flesh, indicating it is heated through.

Remove the grilled bananas from the grill.

Serve immediately on top of vanilla ice cream.

Drizzle with bourbon or other liqueur, if desired.