Pour the gelatin envelope into a bowl with the milk, stir and set aside.
In a medium sauce pan heat the heavy cream and sugar over medium heat and bring to a boil, stirring consistently.
Once it's at a rolling boil pour in the milk and gelatin and cook for 1 minute.
Remove from heat and stir in the vanilla extract.
Pour into 6 small ramekins and let rest until room temperature.
Once they've cooled, cover with foil or plastic wrap and refrigerate for at least 4 hours or over night.