In a large saucepan, heat 2-1/2 cups milk to 175°; stir in the sugar until dissolved. Whisk a small amount of hot mixture into the eggs. Return all to the pan, whisking constantly. Cook and stir over low heat until mixture reaches at least 160° and coats the back of a metal spoon. Remove from the heat. Cool quickly by placing pan in a bowl of ice water; stir for 2 minutes. Stir in vanilla.
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