Banana Fosters Ice Cream

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2 cups sweetened condensed milk, chilled

2 cups heavy whipping cream, chilled

1 tablespoon dark rum

1 teaspoon banana extract

1/2 teaspoon ground cinnamon

Bananas, sliced, for serving

Rum Sauce, recipe follows

Whipped cream, for serving

Rum Sauce:

1 stick unsalted butter

1 cup light brown sugar

1/2 cup whipping cream

2 tablespoons light corn syrup

2 tablespoons dark rum

1/2 teaspoon ground cinnamon