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Bring 2 cups of the milk to a boil in a medium saucepan. While it is heating, combine sugar, cornstarch, salt and vanilla bean (if you’re replacing it with extract, don’t add it yet; if you’d like to toss the leftover vanilla bean pods in the pot with the simmering milk for an extra vanilla boost, go for it) in the bottom of a medium, heatproof bowl. Gradually whisk in the remaining 2/3 cup whole milk, a little at a time so lumps do not form, then whisk in the egg. Once milk is boiling, very gradually add it to the cornstarch mixture in the bowl, whisking the whole time.
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Return the mixture back to the saucepan, stirring constantly with a silicon spatula or wooden spoon. Once it comes to a simmer, cook it for one minute longer (which will cook the cornstarch and egg fully). Stir in vanilla extract, if you’re using it and divide pudding among 6 dishes. Chill in refrigerator until fully set, about 2 hours.
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