In a medium saucepan, combine 2 cups of whole milk and 2 tablespoons of dried lavender. Heat over medium until steaming, then reduce heat and simmer for 15 minutes to infuse flavors.

Strain the lavender from the milk using a fine-mesh sieve. Whisk in 1 cup of heavy cream, ½ cup of honey, and 2 teaspoons of vanilla extract until fully combined.

Allow the mixture to cool to room temperature, about 20–30 minutes. Transfer to an airtight container and refrigerate for at least 2 hours or until chilled.

Pour the chilled mixture into your ice cream maker and churn according to manufacturer's instructions for 20–25 minutes until soft-serve consistency.

Transfer the churned ice cream into an airtight container, smoothing the top, cover tightly, and freeze for at least 4 hours or until firm.