Yolk Prep: Separate the egg yolks from the whites and set the yolks aside.
Set Aside Milk: Measure and set aside half a cup of milk for the starch slurry.
Mixture Prep: In a pot, combine the remaining milk, egg yolks, sugar, and vanilla extract. Stir and heat until near boiling.
Slurry Prep: Mix the starch thoroughly with the reserved milk to avoid lumps.
Combine: When the mixture in the pot is almost boiling, add the starch slurry gradually, stirring constantly. Heat on low until the mixture thickens.
Flavor Check: Taste and adjust with sugar or vanilla extract if needed.
Portion Out: Once thickened, pour the pudding into serving dishes.
Ready to Serve: Enjoy the pudding either warm or cold.