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Mix together everything but the vanilla in a small saucepan and let stand for 5 minutes.
Put the saucepan on medium heat and bring to a boil, making sure you stir it almost constantly so the milk won't scorch the bottom. Watch it carefully so it doesn't boil over either!
Once it boils, remove the pan from the heat and stir in the vanilla, then let it sit for twenty minutes or so.