Chop 6 ripe figs roughly. Combine in a saucepan with 1/4 C. water and 1 t. sugar. Cook for five minutes until liquid cooks off.
Transfer to a blender and puree, then return to the saucepan along with 2 C. heavy cream, a pinch of salt, and 1/4 t. vanilla extract. Bring to a boil then cover and let sit for 15 minutes.
In mixing bowl, combine 5 egg yolks, 1/4 C. sugar, and 2 t. honey. Whisk until well-blended and creamy. Very slowly whisk the cream into the egg yolk mixture, taking care not to allow the yolks to cook.
Use a double boiler to cook the custard over low heat for 15 minutes, until is creamy and coats the back of a spoon.
Cover and refrigerate for an hour or overnight.
Cut the top 1/2″ off 4 ripe peaches, then use a sharp knife to remove the pit while leaving the peach whole. Fill the peaches with the custard, then sprinkle a little sugar on top.
Use a torch to caramelize the sugar on each peach. Serve immediately.