Mix the egg yolks, honey, and vanilla extract in a bowl.
In the top of the double boiler, scald the milk.
Stir 2 tablespoons of the milk into the egg mixture to warm it, then pour the eggs into the milk all at once, stirring constantly.
Set the pot over simmering water and cook for 3 to 5 minutes, stirring, until the custard coats the back of a spoon.
Remove from the heat and let cool.
Using an electric or hand-powered ice cream maker, freeze the cooled custard.
This recipe can be doubled or tripled and, tightly covered, will keep for months.