In a medium saucepan, combine honey, heavy cream, whole milk, and dandelion petals. Heat over medium until gently simmering, about 5–7 minutes.

Cover the saucepan and steep for 30 to 40 minutes.

Strain the mixture through a fine mesh strainer into a clean bowl, discarding the dandelion petals.

In a clean saucepan, whisk together the egg yolks until smooth and pale.

Gradually pour the strained cream into the bowl with egg yolks, whisking constantly. Return to the saucepan and cook over low heat until thickened to 175°F.

Remove from heat, transfer the custard to a bowl, let cool slightly, cover with plastic wrap, and refrigerate for at least 4 hours.

Pour custard into an ice cream maker and churn according to the manufacturer’s instructions until thickened.

Transfer churned ice cream to a freezer-safe container, seal tightly, and freeze for at least 2–3 hours.