Prepare a medium-hot clean grill. Slice bananas ½ inch thick and thread on skewers. Brush with 3 tablespoons canola oil and coat with sesame seeds.
Wipe the grill with canola oil. Place bananas on the grill directly over the heat. Cook them until they are lightly browned, about 2 minutes. Turn and grill 2 minutes longer (keep a close eye on the bananas; remove them before they get too soft). Remove bananas from heat and serve, topped with vanilla ice cream, Jasmine Caramel Sauce, and a generous sprinkling of toasted almond slices.
Jasmine Caramel Sauce
Place sugar in a heavy-bottomed saucepan and add enough water to give the mixture the consistency of wet sand. Cover and warm mixture over medium-high heat until it starts to color. Remove the lid and allow it to continue cooking until the sugar turns a deep amber. Pay attention as the sugar starts to turn. The process happens quite fast! Once the sugar has caramelized as desired, remove from heat and slowly add tea (with vanilla bean), pouring it gently down the side of the pot. Whisk in butter, return to heat, and allow mixture to dissolve and become smooth again. Total time is 35 minutes. Yield is 4 cups.