Combine 2 cups water and sachet in a medium saucepan; bring to a simmer. Cook 5 minutes. Discard sachet. Stir in rice; bring to a boil. Cover, reduce heat, and simmer 15 minutes. Add milk and sugar. Cook over medium heat 15 minutes or until thick and rice is tender, stirring constantly. Remove from heat. Stir in vanilla and salt. Serve warm.