In a saucepan over medium heat, add the cream, milk sugar, salt, and rosemary sprigs. Gently stir, then allow to come just to the boil. Turn off heat and steep the rosemary in the milk for 8 - 10 minutes, remove rosemary sprigs.

In a small bowl, whisk the egg yolks. Return the infused milk to medium heat, add in the whisked yolks and whisk continuously until the mixture has thickened and coats the spoon, about 3 - 5 minutes.

Place a sieve over a large bowl, and pour the cream to strain mixture. Stir in the honey, mix well. Cover and refrigerate until completely chilled. 

Once cream mixture is completely chilled, process in an ice cream maker according to manufacturers directions. 

Transfer ice cream to chilled bowl, cover and freeze.