Place the ingredients in a blender or food processor in the order listed. Process until smooth, then taste the mixture and add a little more maple syrup if needed. This will depend on how ripe your bananas are.
Divide the mixture in the ice cube tray, filling the openings almost to the top. Then place a piece of aluminum foil over the ice cube tray and place the handles (straw, toothpick, etc.) in the center of each cube. The aluminum foil will hold the handles in place until the pops are frozen.
Freeze until solid (a few hours). Remove the foil from the ice cube tray and use a knife to carefully loosen each pop from the mold. Enjoy immediately or transfer to an airtight container and freeze until ready to serve.