Warm the milk in a small saucepan until it begins to simmer. Turn off the heat and add the lavender. Let steep for 10 minutes.
Strain the lavender from the milk using a fine mesh sieve. Discard the lavender.
Add all the ingredients to a blender. Blend until smooth.
Chill the ice cream base for at least 2 hours.
Transfer to an ice cream machine. Churn according to the manufacturer's instructions. Enjoy immediately as soft serve or transfer to a freezer container and freeze until firm enough to scoop.
Notes
Egg Yolks - If you are concerned about using raw egg yolks in ice cream, you can purchase pasteurized eggs or temper the ice cream base. Heat the custard until it is thick enough to coat the back of a spoon, and then chill for at least 4-5 hours.