In a medium saucepan, combine ½ cup granulated sugar and 2 tablespoons of water over medium heat. Cook until the sugar dissolves and turns golden amber, about 5–7 minutes. Remove from heat.

In a separate bowl, whisk together 2 cups of low-fat milk, 2 tablespoons of cornstarch, 2 tablespoons of brown sugar, a pinch of salt, and 1 large egg yolk until smooth.

Slowly whisk the milk mixture into the caramel, then return to low heat. Stir continuously for about 8–10 minutes until thickened.

Remove from heat, and stir in 1 teaspoon of vanilla extract.

Pour the pudding into cups, cover with plastic wrap, and chill for at least 1–2 hours until set.

Serve chilled, topped with whipped cream or extra caramel drizzle.