Sprinkle the gelatin over cold water in a small bowl. Let it sit for 5-10 minutes until it softens.

In a saucepan, combine the whole milk and half of the sugar. Scrape the seeds from the vanilla bean and add both the seeds and the pod to the saucepan. Heat over medium heat until steaming but not boiling (about 5-7 minutes). Stir occasionally, allowing the flavors to infuse.

In a separate bowl, whisk together the egg yolks and the remaining sugar until pale and slightly thickened. Gradually add the hot milk mixture to the egg yolks while whisking constantly to avoid scrambling.

Pour the mixture back into the saucepan. Cook over medium-low heat, stirring constantly until thickened, about 4-5 minutes. You should be able to coat the back of a spoon.

Strain the custard into a bowl (removing the vanilla pod) and add the bloomed gelatin. Stir until completely dissolved.

Let the mixture cool to room temperature, stirring occasionally (about 15-20 minutes).

In a mixing bowl, whip the heavy cream until soft peaks form. Fold the whipped cream gently into the cooled custard. Be gentle to avoid overmixing!

Pour the combined mixture into a mold or individual serving dishes. Refrigerate for at least 4 hours or until set; overnight is best for flavor development.