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Cut bananas in half lengthwise, then cut each piece in half crosswise.
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Stir together margarine or butter and 1 teaspoon of the orange juice.
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Brush mixture on all sides of banana pieces.
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Place bananas directly on the grill rack over medium-hot coals.
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Grill, uncovered, for 2 minutes; turn over and grill for 2 minutes more or until heated through.
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Meanwhile, in a heavy, medium skillet or saucepan combine the caramel topping and the remaining 1 teaspoon orange juice.
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Heat on the grill rack alongside bananas directly over the coals, or on a stovetop, until bubbly. Stir frequently.
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Stir in cinnamon.
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Add bananas and stir gently to coat.
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To serve, scoop ice cream into 4 dessert dishes.
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Spoon sauce and bananas over ice cream.