Heat cream, milk, goat milk, honey, dry milk, salt, and thyme sprigs in a saucepan over medium-low until just simmering. Meanwhile, whisk egg yolks together in a large bowl. Remove milk mixture from heat, and slowly pour into yolks, whisking constantly.
Add mixture back to saucepan over low heat and cook, stirring constantly, until thickened and coats back of a wooden spoon, 5–7 minutes. Remove custard from heat and strain through a fine mesh sieve set over a bowl. Discard thyme sprigs and stir in vanilla bean paste.
Cover custard and refrigerate until completely chilled, at least 2 hours or overnight.
Transfer custard to bowl of an ice cream maker and churn according to manufacturer's instructions (should look like soft serve ice cream). Transfer ice cream to an airtight container and freeze until ready to use.