In a small bowl, sprinkle the unflavored gelatin over 1/4 cup cold water and let it bloom for 5 minutes.

Combine the milk and granulated sugar in a medium saucepan and heat over medium heat, stirring until the sugar dissolves and the mixture is warm but not boiling, about 5 minutes.

In a separate bowl, whisk the egg yolks until pale and frothy, about 2 minutes.

Slowly pour the warm milk mixture into the egg yolks while stirring constantly to temper the yolks without scrambling them.

Return the mixture to the saucepan and cook over low heat, stirring constantly until it thickens enough to coat the back of a spoon, about 5 minutes; do not let it boil.

Remove from heat and stir in the bloomed gelatin and vanilla extract until fully dissolved.

In a chilled bowl, whip the heavy cream until soft peaks form, about 3 minutes.

Gently fold the whipped cream into the milk mixture, pour into 6 molds or ramekins, and refrigerate for at least 2 hours until set.