In a small saucepan, combine the peanut butter, honey, brown sugar and milk; cook until heated through, stirring occasionally.
Peel bananas and cut in half widthwise; insert a Popsicle stick into one end of each banana half. Spoon peanut butter mixture over bananas to coat completely. Sprinkle with granola. Serve immediately or place on a waxed paper-lined baking sheet and freeze. Yield: 6 servings.