In a medium saucepan, combine the milk, heavy cream, and sugar. Heat over low heat, stirring until the sugar is completely dissolved.
In a separate bowl, whisk the egg yolks. Gradually add a small amount of the warm milk mixture to the yolks to temper them.
Pour the tempered egg yolk mixture back into the saucepan. Cook over low heat, stirring constantly, until the mixture thickens slightly (about 5 minutes).
Remove from the heat, stir in the vanilla extract and honey, and let cool completely.
Pour the mixture into an ice cream maker and process according to the manufacturer's instructions until creamy.
If you don't have an ice cream maker, pour the mixture into a shallow container and place it in the freezer. Stir every 30 minutes to prevent ice crystals from forming.
Once the ice cream is completely frozen (after about 4-5 hours), prepare the honeycomb layer.
In a saucepan, heat the honey and sugar over medium heat until it turns into a golden brown caramel.
Remove from the heat and quickly stir in the baking soda. The mixture will foam up. Pour onto a baking sheet lined with parchment paper and let cool completely.
Break the hardened honeycomb into pieces and fold it into the ice cream.
Melt the dark chocolate over a double boiler. Stir in the coconut oil until smooth and fluid.
Dip the ice cream scoops into the chocolate, then place them on a baking sheet lined with parchment paper. Return to the freezer for 10 minutes to allow the coating to harden.
Before serving, let stand at room temperature for a few minutes so the chocolate isn't too hard.
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