In a medium saucepan, combine honey, heavy cream, whole milk, and dandelion petals over medium heat. Allow the mixture to come to a gentle simmer for about 5 minutes, then simmer for 30-40 minutes.

Carefully strain the mixture through a fine-mesh sieve into a clean saucepan, discarding the dandelion petals. Return the mixture to low heat.

In a separate bowl, whisk the egg yolks until light and frothy. Gradually pour in the warm cream mixture while whisking continuously.

Transfer the mixture back to the saucepan and cook over low heat, stirring constantly until thickened. This should take about 10-15 minutes.

Remove from heat and let cool at room temperature for 15 minutes. Cover with plastic wrap and refrigerate for at least 4 hours.

Once chilled, pour the mixture into the ice cream maker and churn according to the manufacturer's instructions for about 20-25 minutes.

Transfer the churned ice cream to an airtight container and freeze for at least 4 hours to firm up.