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Whizz the flesh from the bananas, yogurt and condensed milk together in a food processor or blender until smooth. Scrape into an ice cream container or loaf tin, or divide between individual pots.
Crush up the banana chips, if using, by tipping them into a food bag and bashing with the end of a rolling pin – like you would biscuits for a cheesecake base. Swirl through the frozen yogurt mix, then cover the container or containers well with cling film and freeze overnight until solid. Will keep for 3 months in the freezer.