(makes a little over 2 cups)
Combine milk and egg yolks. Heat in 3 quart pot over medium heat for 5 minutes while whisking frequently.
Combine sugar, cornstarch and salt. Gradually add mixture to warm milk while whisking.
Heat for 3-5 more minutes while whisking continuously. Once mixture is bubbling and is coats the sides of pan, remove from heat.
Whisk in vanilla extract.
Refrigerate at least 4 hours before serving. (I refrigerate overnight)
Place plastic wrap directly on top of pudding to prevent skin from forming.