Fit the Whisk Tool.
Add eggs, sugar, vanilla into the appliance bowl.
Whisk for 2 minutes on speed 5, until combined, and then reduce the speed.
Add the warm milk mixture gradually while the machine is running.
Whisk for 30 seconds on speed 2 until combined.
Transfer the mixture back into the saucepan.
Cook for 5-8 minutes on a medium-high heat, until thickened, stirring constantly.
Remove the custard from the heat and set aside.
Cover with parchment paper to prevent a skin forming.