Preheat grill to medium-high
Make a long cut through the skin on the concave side of each banana, and pull the peel.
Grill the bananas uncovered, until banana is warmed through and peel is mostly black, about 10 minutes.
Remove bananas; set aside. Add vanilla wafers to basket, and grill until cookies get slightly charred, about 1 minute.
Divide ice cream evenly among 4 bowls. Peel bananas, and cut each diagonally into 5 pieces.
Top ice cream with bananas, whipped topping, caramel sauce, and chocolate sauce. Break up vanilla wafers, and sprinkle over bowls. Garnish with cherries.