Quarter the figs and remove their stems. Place on an oven tray and drizzle with honey. Roast at 180°C for 30 minutes until softened.
Scoop the flesh into a blender and process until it turns a smooth consistency. Place the fruit in a container once at room temperature and store in the fridge until needed.
Whisk yolks and sugar in a medium bowl, then set aside.
Heat milk,cream, and vanilla in a large saucepan on medium-high heat until simmering, then remove from heat.
Scoop out one cup of milk and slowly pour it into the yolks, whisking constantly. Once the milk is incorporated, pour the yolk mixture back into the saucepan and cook on a medium heat until the custard thickens. Don't allow the liquid to boil, or the yolks will cook.
Pour the custard into an airtight container and chill for at least two hours, preferably overnight.
Stir the figs into the milk mixture, then pour everything into an ice cream maker. Follow the manufacturer's instructions to churn.
Once the churning finishes, scoop your dessert into an airtight container and freeze for three hours or until hard.
