Hero, Class and Skills FAQ and Errata

Rulebook, Page 4, 'Elixir Tokens':
Add, 'Allies and familiars treated as hero figures can also gain elixir tokens. Each time an ally or familiar gains one elixir token, place it on their card. Allies and familiars treated as hero figures can discard elixir tokens to recover h just like heroes. Allies and familiars treated as hero figures discard all elixir tokens on their card when they are defeated, when they are summoned, and at the end of each encounter.'
Source: Official Errata