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Set a fine-mesh sieve over a medium bowl and place it near your stove. In a separate medium bowl nearby, place the chopped chocolate.

In a large saucepan, whisk together the cornstarch, sugar, and salt. Add the egg yolks and whisk until fully combined, making sure to reach the edges of the pan.

Pour in 2 1/2 cups (568g) of the milk and the heavy cream, then whisk thoroughly to eliminate as many lumps as possible.

Set the saucepan over medium-low heat and cook, whisking frequently, for 8 to 10 minutes, until the mixture is thick enough that your whisk leaves lines in the bottom. Stir constantly toward the end, switching to a flexible spatula if necessary to reach into the edges of the pan.

Remove the saucepan from the heat, whisk in the sweetened condensed milk, and stir until the pudding is smooth and shiny. Immediately press the pudding through the sieve to remove any lumps.

Transfer about half of the pudding (about 1 1/2 cups or 500g) to the bowl with the chopped chocolate and whisk until the chocolate is melted and the pudding is smooth. Add the remaining 2 teaspoons milk and whisk to combine.

Whisk the vanilla into the plain pudding.

Distribute the chocolate pudding, followed by the vanilla pudding, evenly among small cups, jars, or serving dishes (see “tips,” below for portioning guidance). Press a piece of plastic wrap or parchment directly onto the surface of each pudding to prevent a skin from forming, then cover and chill until set, about 3 hours. Serve cold, with additional whipped cream if desired.

Store the pudding cups in the refrigerator for up to 5 days.