Frozen Honey-Vanilla Goat's Milk on Sugar Cone Cookies

Ingredients

• 1/2 cup honey
• 3 tablespoons tapioca starch
• 1/4 teaspoon kosher salt
• 1 vanilla bean, split
• 2 tablespoons plain goat’s milk yogurt or Greek (cow’s milk) yogurt
• 3 cups goat’s milk
• 1 cup all-purpose flour
• 1 teaspoon baking powder
• 2 large eggs
• 1/2 cup granulated sugar
• 6 tablespoons unsalted butter, melted and cooled
• 1 teaspoon pure vanilla extract