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Prepare the Cream Puff Batter:
- In a medium saucepan, combine water, butter, and salt. Bring to a boil over medium heat.
- Quickly stir in the flour until a dough forms.
- Remove from heat and let cool slightly.
- Beat in eggs one at a time, mixing well after each addition.
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Pipe and Bake the Cream Puffs:
- Preheat oven to 425°F (220°C). Line a baking sheet with parchment paper.
- Pipe or spoon dough onto prepared baking sheet.
- Bake for 15 minutes, then reduce heat to 375°F (190°C) and bake for an additional 20 minutes or until golden brown.
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Make the Custard Filling:
- Heat milk in a saucepan until steaming hot.
- In a separate bowl, whisk together sugar, cornstarch, and egg yolks.
- Gradually whisk hot milk into the egg mixture.
- Return mixture to the saucepan and cook over medium heat, whisking constantly, until thickened.
- Stir in vanilla extract.
- Let cool completely.
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Fill the Cream Puffs:
- Once cooled, fill the cream puffs with the custard using a piping bag or by cutting them open and spooning in the filling.