In heavy medium skillet, melt butter over medium heat. Stir in brown sugar, syrup, lemon juice, and cinnamon. Bring to boiling; reduce heat. Simmer, uncovered, for 2 minutes. Add bananas; spoon some of the syrup mixture over bananas. Cook and stir for 1 to 2 minutes more or until heated through. Remove from heat.
Scoop ice cream into dessert dishes. Spoon warm bananas and syrup over ice cream.