Combine 2 1/2 cups 1% low-fat milk and egg yolks in a medium, heavy saucepan; stir well with a whisk. Cook over medium heat 10 minutes or until mixture thickens and coats a spoon, stirring constantly (do not boil). Combine egg yolk mixture, 2 1/2 cups 1% low-fat milk, and condensed milk, and condensed milk in a large bowl, and stir well. Cover and chill completely. Add banana, lime juice, and vanilla to milk mixture; stir well. Pour mixture into the freezer can of an ice-cream freezer, and freeze according to manufacturer's instructions. Spoon ice cream into a large freezer-safe container; fold in syrup, pecans, and cherries. Cover and freeze 2 hours or until firm.