2 Tbsp cornstarch
1/2 cup pourable Sugar Twin or Sprinkle Sweet ( I would use Splenda)
2/3 cup Carnation Nonfat Dry Milk Powder
1 1/2 cups water
2 tsp vanilla extract
4 to 5 drops yellow food coloring

Combine all this in a medium saucepan and cook over medium heat, stirring constantly, until the mixture comes to a full boil and thickens.

This is basic cooked sugar free vanilla pudding.