1In 3-quart saucepan, heat milk and lavender over medium-high heat until bubbles begin to form around edge of pan (do not boil). Remove from heat; let stand at least 15 minutes.
2In large bowl, beat egg yolks and sugar with electric mixer on medium speed 3 to 4 minutes or until pale and creamy. Add honey; beat until blended.
3Strain milk through fine-mesh strainer to remove lavender; discard lavender. Stir milk into egg yolk mixture. Return to saucepan. Cook over medium-low heat until mixture thickens and coats back of spoon. Remove from heat; cool completely.
4Place saucepan in refrigerator until cold, about 2 hours. Pour mixture into ice-cream freezer and freeze according to manufacturer’s directions.