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Preheat the oven to 325°F (165°C). Place four 6-oz ramekins in a deep baking dish and set aside.
Combine the milk, vanilla bean pod, and scraped vanilla seeds in a medium saucepan over medium heat. Warm until small bubbles appear around the edges and steam rises from the surface, about 5 minutes — do not boil. Remove from heat and let steep for 10 minutes, then discard the pod.
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