Heat grill to 450-500°. Split bananas lengthwise and place fruit side down, skin side up on grill. Grill for about 5 - 7 minutes, or just until bananas get grill marks. The skin will start to darken. Remove from grill and remove banana peel and place in serving dish. Spoon on peanut butter to warm bananas. Add ice cream and chocolate syrup. Garnish with fresh berries and roasted peanuts.