Combine first 3 ingredients in a medium, heavy saucepan. Heat mixture over medium heat until honey dissolves, stirring frequently (do not boil). Remove from heat.
Combine salt and egg yolks in a large bowl, stirring with a whisk. Gradually add honey mixture to egg mixture, stirring constantly with a whisk. Place honey mixture in pan; cook over medium heat until mixture reaches 180° (about 3 minutes), stirring constantly (do not boil). Remove from heat; stir in 2% milk. Cool completely.
Pour mixture into the freezer can of an ice-cream freezer; freeze according to manufacturer's instructions. Spoon gelato into a freezer-safe container. Cover and freeze 2 hours or until firm. Garnish with mint sprigs, if desired.