I used 2% yogurt in the recipe - if you want to go full-fat, go right ahead! I wouldn't recommend using non-fat; even with the help of the half & half and bourbon, it's pretty impossible to scoop after freezing. —Kitchenette
In a small pot, bring the half & half just to a simmer. Remove from the heat, stir in the lavender and steep for 5 minutes. Strain out the lavender, whisk in the maple syrup and allow the mixture to cool to room temperature.
Whisk together the cooled maple syrup mixture with the yogurt, vanilla and bourbon. Chill the mixture until very cold, at least a couple of hours. Churn according to your ice cream maker's directions.