For the custard: Pour the milk and vanilla extract into a saucepan and bring to a boil.

Meanwhile, whisk the egg yolks with the sugar, then slowly pour the hot milk over the mixture while stirring constantly.

Return the mixture to the saucepan and stir with a wooden spoon.

Heat the custard to 180–183°F (82–84°C) until thickened. Once ready, cover with plastic wrap and let cool.

For the meringue: Beat the egg whites until stiff peaks form, gradually adding the sugar.

Bring a saucepan of water to a boil and gently drop in spoonfuls of the meringue.

Poach the meringue on all sides until set.

To assemble: In small glasses or bowls, pour in the custard, top with poached meringue, drizzle with caramel sauce, and enjoy.