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In a medium saucepan, combine egg yolks, honey, whole milk, and salt and whisk well. Heat over medium heat until bubbles just begin to form, whisking often at first and then constantly as mixture begins to get warm.
Remove saucepan from heat and gently stir in whipping cream and vanilla extract. Cool to touch. Give the mixture a good stir and then cover with plastic wrap. Press plastic wrap directly over mixture so it doesn't develop a film on top. Then chill in the refrigerator for 6 hours or up to 24 hours.
Process ice cream in your ice cream maker following the manufacturers instructions. Scrape mixture into a container with a lid. Freeze ice cream for at least 2 hours before serving or up to a week.