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It's basically the highest grade of honey. You can get it from flowers grown on soil that is fertilized to the highest levels (4 or 5) Just like honey it's random whether you get it or not. You collect it from flowers with a bee icon over them (you'll also hear a buzzing noise)

Plant some flowers on lvl 5 soil(the best) and instead of honey you'll get royal jelly.(i had trouble getting it too but it will eventually get easy)