Combine first 3 ingredients in a medium saucepan; cook over medium-high heat until sugar dissolves and is golden (about 5 minutes), stirring frequently. Remove from heat; cool slightly. Stir in milk and syrup; cook over medium-low heat, stirring with a whisk. Heat to 180° or until tiny bubbles form around edge of pan, stirring frequently (do not boil). Strain mixture through a sieve; discard solids.