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Add all ingredients two a small sauce pan.
On low heat, mix consistently, and slowly simmer and mix for twenty minutes. Remove from heat. If desired, sieve ingredients into a heat proof container. I personally leave my lavender flowers and lemon zest in. I'm a textured ice cream kind of person, the more stuff, the better. You do you.
Let mixture cool for at least two hours in the refrigerator.
Mix cooled custard and add to to ice cream maker and churn according to manufactuer's recommendations.
Ours churns for twenty minutes. Ice cream should double in volume and be solid, but soft when done.
Scoop into molds of choice or air tight container for scooping.