1. In a medium saucepan, combine milk, lavender and honey. Bring to a gentle boil, cover and remove from heat. Let steep for 5 minutes. Strain mixture, reserving milk and discard lavender.
2. Cobine yolks, and sugar in the bowl of an electric mixer. Beat on medium-high speed until very thick and pale yellow, 3-5 minutes. Meanwhile, return milk to a medium saucepan and bring to a simmer over medium-low heat.
3. Add half the milk to yolk mixture and whisk until blended. Stir mixture into remaining milk and cook over low heat, stirring constantly, until misture is thick enough to coat the back of a wooden spoon.
4. Remove from heat and immediately stir in cream. Strain mixture into a medium mixing bowl set in an ice-water bath and let stand until chilled, stirring from time to time. Freeze in an ice cream maker according to manufacturer's instructions.