In a medium saucepan, combine honey, heavy cream, whole milk, and dandelion petals. Heat on low to medium until the mixture begins to simmer, about 30-40 minutes.

Once simmered, remove from heat and strain the mixture through a fine mesh sieve to remove dandelion petals, leaving behind a smooth cream.

In the cleaned saucepan, whisk together the egg yolks. Gradually add the strained mixture, whisking continuously to combine.

Place the saucepan over low heat, stirring constantly until the custard thickens and reaches 175°F (79°C).

Remove from heat and cool for 10 minutes. Cover and refrigerate for at least 4 hours.

Pour the chilled custard into an ice cream maker and churn until soft-serve consistency, about 20-30 minutes.

Transfer the ice cream into a freezer-safe container and freeze until firm.