Thoroughly wash the figs and cut off the stems. Chop them into smaller pieces and purée them until smooth using a blender.
In a medium saucepan, combine the milk and heavy cream, then heat over medium heat. Add the honey and stir until completely dissolved.
Remove from heat and stir in the fig purée, lemon juice, and vanilla extract. Mix well to ensure the flavors are evenly distributed.
Allow the mixture to cool completely, then refrigerate for at least 2 hours to chill thoroughly.
Pour the well-chilled ice cream base into an ice cream maker and churn according to the manufacturer's instructions. If you don't have an ice cream maker, pour it into a freezer-safe container and stir with a fork every hour to prevent ice crystals from forming.
Before serving, let it stand at room temperature for a few minutes to soften slightly. Garnish with fresh figs or a drizzle of honey.
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