On the stovetop or in the microwave, heat milk until steaming but not boiling. Steep lavender for 20 minutes.
Add lemon zest (if using) and almond extract to the lavender milk. Discard lavender and let milk cool to room temperature.
Preheat oven to 325 degrees F and line your cupcake tin.
Beat eggs and sugar until batter is very pale in color, fluffy, and drips off the beaters in ribbons that hold their shape slightly before assimilating back into the bowl. I recommend using a stand mixer with whisk attachment, but a handheld mixer will work too.
Add oil and mix until homogenized.
In a separate bowl, whisk flour, baking powder, and salt.
Alternate adding in dry ingredients and lavender milk until the batter is just combined.
Scoop batter into cupcake tins until 2/3-3/4 of the way full. These cupcakes bake flat instead of doming on top, so you can fill the cupcake liners a little higher than usual.
Bake for 18-22 minutes, or until and inserted skewer comes out clean. Let cool and top with your favorite frosting (I recommend an almond or vanilla Swiss buttercream).