COMBINE THE MILK and rose petals in a saucepan and bring to a boil over medium heat.
As soon as the milk boils, remove the pan from the heat; let stand for 10 minutes.
STIR TOGETHER the egg yolks and sugar in a medium bowl.
Strain the milk into the yolk mixture, stirring to mix.
Discard the rose petals and wipe out the pan if necessary.
Return the mixture to the saucepan and cook over medium-low heat until the custard is thick enough to coat the back of a spoon, 5 to 7 minutes.
Do not let the custard boil or it will curdle.
LET THE CUSTARD COOL slightly, then refrigerate until chilled.
Stir in the chilled cream, pour the mixture into an ice cream maker, and freeze according to the manufacturer's instructions.
Transfer the frozen ice cream to an airtight freezer container and freeze for at least 1 hour before serving.