In a separate bowl, whisk 4 egg yolks. Gradually add a portion of the warm milk mixture, whisking continuously to prevent curdling.
Pour the egg mixture back into the saucepan with the remaining warm milk, stirring constantly to temper the eggs without scrambling.
Continue cooking the custard on low heat, stirring constantly, until it thickens enough to coat the back of a spoon.
Strain the custard to remove any lumps and cool it slightly before adding vanilla extract for flavor.
Refrigerate the custard until it's thoroughly chilled. Serve it on its own or with your favorite dessert for a creamy and delightful treat.
Combine 2 cups of milk, ½ cup of sugar, and a pinch of salt in a saucepan. Heat over medium heat until it's warm but not boiling.