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In a small bowl stir together brown sugar and cinnamon; set aside. Cut bananas in half lengthwise, leaving peels intact.
For a gas or charcoal grill, grill bananas, cut sides down, on oiled rack of a covered grill directly over medium heat 2 to 3 minutes or until golden grill marks form. Turn and sprinkle cut sides with cinnamon-sugar mixture. Cover and grill about 5 minutes or until the peels begin to pull away from the bananas. Transfer to plates and sprinkle with chocolate and pecans. Let stand 1 to 2 minutes before serving.