Start by making the ice cream: In a medium-sized saucepan, heat milk, cream, sea salt, and honeybush tea bags over medium heat for 15 minutes, whisking occasionally (do not boil).
In a medium bowl, whisk together maple syrup and egg yolks. Add 1 tablespoon of warm milk at a time to the egg mixture and whisk each tablespoon in until you have added approximately 1/2 cup.
Then pour the bowl of tempered egg mixture into the warm milk and stir gently. Stir constantly, being careful not to allow the bottom of the pan to burn or stick. Keep stirring until the mixture thickens and coats the back of a spoon (up to another 10-15 minutes, depending on your heat level).
Remove mixture from heat and allow to cool (we cooled in a separate bowl in the fridge) to room temperature before processing in your ice cream maker. Makes 1 quart of ice cream.
To make tea: Steep loose-leaf orange-cinnamon rooibos in boiling water for 5 to 10 minutes, until strong and fragrant. Strain or press in French press.
To make affogato: Scoop 1 to 2 fat scoops of honeybush ice cream into each mug, and pour hot tea on top. Garnish with chocolate as desired.