In a saucepan, heat the milk over medium heat until steaming but not boiling.
In a separate bowl, whisk together sugar, cornstarch, and egg yolks until smooth and pale.
Gradually whisk the hot milk into the egg mixture.
Return the mixture to the saucepan and cook over medium heat, stirring constantly, until thickened.
Remove from heat and stir in vanilla extract. Transfer to a bowl, cover with plastic wrap (directly touching the surface of the custard to prevent a skin from forming), and chill in the refrigerator until completely cold.
In a separate bowl, whip the chilled heavy cream until stiff peaks form. Gently fold the whipped cream into the chilled custard until well combined.