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Put dates into a medium bowl, cover with lukewarm water and set aside to let soak for 10 minutes.
In a food processor, purée dates with 3 to 4 tablespoons of the soaking liquid, honey, oil, vanilla and cinnamon until smooth. (Discard remaining soaking liquid.)
Add bananas and purée again until almost smooth.
Transfer to a stainless steel bowl and stir in peanuts and cacao nibs.
Cover and freeze, stirring occasionally, until almost solid, 4 to 6 hours.
Let ice cream soften a bit at room temperature before serving.