In a small saucepan, bring 2 cups of water to a boil.
Once boiling, remove from heat and add the dried lavender. Steep for about 10 minutes.
Strain the lavender from the water using a fine mesh sieve or cheesecloth, discarding the lavender flowers.
Stir in the honey while the lavender tea is still warm, mixing until fully dissolved.
Add the milk and vanilla extract to the lavender tea, stirring to combine.
For a chilled version, let the tea cool to room temperature, then refrigerate for at least 30 minutes. Serve over ice if desired.