Place 2 tablespoons water in a small bowl and sprinkle with gelatin. Set aside until spongy, about 5 minutes. Meanwhile, in a small saucepan, heat honey with 1/4 cup water over a medium flame until honey is dissolved. Remove from heat and let sit 1 minute. Add gelatin and stir until dissolved. Cool to room temperature, then stir in lemon juice. Chill 30 minutes in refrigerator.

Using an electric ice cream maker, churn until thickened but not thick enough to scoop. Add yogurt and milk and continue to churn, 15 to 20 minutes. Remove and place in a freezer-proof container; freeze until firm.