Place the milk in a medium saucepan. Heat over medium-low until it just begins to simmer.

While the milk is heating, whisk together the honey and egg yolks in a medium bowl. Gradually pour the hot milk into the egg yolks; whisking vigorously the entire time.

Return the mixture to the saucepan and cook over medium-low heat, stirring constantly, until the mixture thickens noticeably and coats a wooden spoon. (~4-5 minutes) (Note: Do not let the mixture boil.)

Remove mixture from heat and stir in the heavy cream and vanilla extract. Pour the mixture through a fine-mesh strainer into a clean container. Cover with plastic wrap, pressing the plastic directly onto the surface of the mixture, and refrigerate for several hours or overnight.

Pour the ice cream mixture into an ice cream maker and freeze according to the manufacturer's directions.

(Optional) If you desire a firmer ice cream, transfer the finished ice cream into the freezer for a couple of hours.

Top ice cream with roasted figs and candied walnuts before serving.

Preheat oven to 350°F.

Slice the figs into wedges and place in a rimmed baking dish. Sprinkle figs with brown sugar and cinnamon.

Bake for 20 minutes. Let cool before placing on ice cream.

Using a small, non-stick pan, add chopped walnuts, sugar, salt and butter. Place over medium heat and cook for 5-6 minutes, stirring frequently, or until sugar has completely melted and walnuts are evenly coated.

Transfer walnuts onto parchment paper and spread apart using 2 spoons. (Tip: If you don’t separate the walnuts at this stage, they will stay in one large block once cooled.)

Let cool before placing on ice cream.