Whisk yolks and sugar until pale.
Heat milk and cream in medium saucepan on high heat until simmering then remove from heat.
Slowly pour a cup of the milk into the yolks while whisking as quickly as possible. Then pour yolks back into the saucepan of milk.
Continue heating mixture on a medium heat until it thickens and coats the back of a spoon then remove from heat.
Stir in the honey, vanilla, and caramel until combined then add to an airtight container and chill in the fridge for at least three hours.
Churn in ice cream machine as per manufacturers instructions then add to an airtight container and freeze for about three hours until hardened.