Place the Manchego cheese, full cream, honey and rosemary in a thin-sided bowl and suspend over the gently boiling bain-marie, ensuring that the bowl does not touch the water. Beat the mixture using a hand mixer until creamy, pour it through a fine sieve and season with a little pepper. Divide into small glasses and leave to cool.
Cover and freeze for approx. 2 hrs. Refrigerate for approx. 30 mins before serving. Slice the Pan de Higo, divide onto plates with the ice cream, decorate with rosemary and a little honey.