In a heavy-bottomed saucepan, bring the milk to a boil. Remove from the heat and stir in half of the rose petals and all of the almonds. Allow to cool to room temperature.
In a blender, combine the milk mixture with the cream, sugar, honey, and rose extract. Puree until well blended, 3 to 4 minutes. Transfer to a container, cover, and refrigerate to allow the flavors to infuse, 2 to 3 hours. Pour the mixture into a fine-mesh strainer set over a bowl; discard the solids in the strainer.
Freeze and churn in an ice cream maker according to the manufacturer’s instructions. Meanwhile, thinly slice the reserved rose petals (or if you prefer, leave them whole). When the ice cream has finished churning, stir in the rose petals. For a soft consistency, serve the ice cream right away; for a firmer consistency, transfer it to a container, cover, and allow to harden in the freezer for 2 to 3 hours. If the ice cream has hardened too much, allow it to thaw on the counter for a few minutes before serving.
Reprinted with permission from Mexican Ice cream, copyright © 2017 by Fany Gerson, published by Ten Speed Press, an imprint of Penguin Random House LLC.
Photography copyright © 2017 by Justin Walker