Combine first 3 ingredients in a saucepan; stir with a wire whisk. Gradually add milks and egg yolk, stirring until blended.
Place over medium heat; cook, stirring constantly with a wooden spoon, 20 minutes or until thickened and mixture coats back of a spoon (do not boil). Remove from heat.
Add butter and vanilla, stirring until butter melts. Pour pudding evenly into 6 individual serving dishes. Cover surface of pudding with plastic wrap; chill.
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