In a medium sized saucepan - add your sugar, cornstarch and salt. Heat over medium heat. Gradually whisk in your milk. Cook for 5 minutes, stirring constantly, until thickened and bubbly.

Remove from heat and stir in your vanilla extract. Let cool. Cover your saucepan and chill for 30 minutes or until set. {Don't try pouring the hot/warm pudding into the plastic cups. You will end up with melted cups like I did ;)

Once ready to serve - pour into your plastic cups. Depending on the size of your cups, you may get 4-6 servings.