Combine honey, heavy cream, whole milk (or half and half), and dandelion petals in a medium saucepan. Stir over medium heat until simmering, then remove from heat and steep for 30-40 minutes.

Strain the mixture through a fine mesh strainer into a large bowl, discarding the petals.

Whisk egg yolks in a separate saucepan. Gradually pour in the infused cream mixture while whisking continually to temper the yolks.

Cook the custard mixture over low heat, stirring constantly, until it thickens and reaches 175°F.

Transfer the custard to a bowl, cover with plastic wrap, and refrigerate for at least 4 hours.

Churn the chilled custard in an ice cream maker according to the manufacturer's instructions until it reaches soft-serve consistency.

Transfer the churned ice cream to a freezer-safe container, smooth the top, and freeze for several hours.

Serve scoops of ice cream, optionally drizzled with honey and garnished with fresh berries or nuts.