In a large skillet combine butter, brown sugar, orange juice, cinnamon and pecans. Over medium heat, stir until butter and sugar are melted and you have a smooth sauce. Lower heat. Peel bananas and cut in half lengthwise, then in half crosswise. Place bananas in skillet with sauce. Spooning sauce over bananas, simmer until bananas are warm and glazed. Place four banana pieces on each plate. Top with a scoop of ice cream and a little more sauce. Serve immediately. Serves 6.