incense

From Middle English encens, borrowed from Old French encens ("sweet-smelling substance"), from Late Latin incensum, meaning "burnt incense" or literally "something burnt" — the neuter past participle of incendō, "to set on fire."

The word entered English through French and Latin already tied to burning, and it pushed out the native Old English word rēcels, which had named the same fragrant smoke.

It's a doublet of incienso, and its root incendō also gives English incendiary, both pointing back to the same idea of setting something ablaze.