In a medium pot, add the milk, heavy whipping cream, honey, and black garlic.
Turn the heat to medium and bring the milk to a simmer, just below a boil. Once it starts to bubble at the edges, remove from heat.
While the milk is brought to a simmer, separate the egg yolks from the egg whites.
Add the egg yolks to a small bowl. Also add the vanilla and sugar. Whisk together until the yolks are broken and all ingredients are combined.
Remove the milk from the stovetop and gently pour a little bit into the egg yolk mixture while whisking the whole time to prevent the egg yolks from curdling.
After whisking for a minute longer, pour the egg mixture into the pot with the hot milk. Put it back on the stovetop over medium-low heat.
Stir constantly for about 8 minutes or until the milk becomes very thick. It should coat the back of a spoon and be stiff like pudding.
Remove from heat and pour through a sieve into a new bowl. This will remove any eggy bits or skin that might have formed.
Cover the bowl and put in the fridge. Leave for a minimum of two hours or until fully chilled.
When the custard is cold, you can transfer it into the bowl of your ice cream machine.
Follow the machine's manufacturer instructions to freeze the ice cream. This can take several hours.
Once the cream has reached the correct consistency, you can serve it immediately as soft-serve ice cream.
If you prefer a harder ice cream, put it in a freezer-safe container and leave it in the freezer for a few hours before serving.
Serve and enjoy!