Begin by gathering all the ingredients. Preheat a gas or charcoal grill to a medium-low heat range, around 300°F to 325°F. Keep the peels intact and slice each banana in half lengthwise.

Lightly brush the exposed banana flesh with lemon juice to enhance its natural sweetness and prevent discoloration. In a separate bowl, blend the brown sugar and cinnamon until evenly combined. Generously coat the cut side of each banana half with this fragrant sugar mixture, ensuring a rich caramelized finish.

Using a grill brush or a folded paper towel dipped in canola oil, grease the grill grates to prevent sticking. Arrange the bananas on the grill with the cut side facing up and cook for about 2 to 3 minutes, allowing the heat to slightly soften the fruit. Carefully flip the bananas so the sugared side is in contact with the grill. Let them cook for another 3 minutes, or until the sugar melts into a golden, caramelized glaze.

Once done, remove the bananas from the grill. They can be enjoyed straight from the peel or scooped out and paired with savory dishes or desserts. Serve warm for the best texture and flavor.