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Wash, halve and pit the nectarines.
In a medium pot, add the sugar and honey and pour over 800 ml of water. Add the rooibos teabags, cinnamon stick, vanilla extract and the juice and zest of one lemon. Bring to a boil, stirring to dissolve the sugar.
Carefully submerge the nectarines into the rooibos liquid, reduce heat to a low simmer and poach for 15-20 minutes (or until softened and cooked). Remove the nectarines with a slotted spoon, allow to slightly cool and peel the skins off. To reduce the remaining liquid until thickened, increase the heat and cook for 5 minutes on high.
For the custard: In a small saucepan add the milk, butter and vanilla extract. Bring to a simmer over medium heat, without boiling. In a bowl, whisk together the egg yolks, castor sugar and cornflour. While whisking, add a ¼ cup of the milk to the eggs to temper. Pour the egg mixture back into the saucepan, return to heat, stir continuously until the custard thickens and coats the back of a spoon. Set aside. (Cover the top of the custard with clingwrap to prevent a skin from forming).
For the jelly: Prep according to pack instructions, set overnight in the fridge or for at least 4 hours.
Serve the poached nectarines, with the syrup, topped with custard and jelly.