Combine first 3 ingredients in a large saucepan. Scrape seeds from vanilla bean; stir seeds and bean into milk mixture. Bring to a simmer (do not boil). Cover and keep warm over low heat.
Place rice in a medium sauté pan over medium heat; cook 3 minutes, stirring constantly. Stir in salt. Add milk mixture, 1/2 cup at a time, stirring frequently until each portion is absorbed before adding the next (about 45 minutes). Remove from heat; stir in rind and juices. Remove vanilla bean, and discard. Chill risotto at least 3 hours before serving.