Bring milk and saffron to boil. Simmer for 5 to 10 minutes then cool and strain. In a bowl mix together the egg yolks, honey and sugar until creamy. Whisk in the flavoured milk a little at a time.
Cook in a bain marie for about 15 minutes until the mixture coats the back of a wooden spoon. Keep stirring all the time to avoid lumps. Then cool and put the mixture in the fridge for at least 24 hours. Remove cloves. When you are ready to churn, add the lightly whipped double cream.
Churn the chilled mixture in an ice cream maker for 30 minutes. Freeze until required.
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