Bring milk just to a boil in a 3-quart heavy saucepan and remove from heat. Whisk together yolks, sugar, and a pinch of salt in a bowl and add hot milk in a slow stream, whisking. Pour custard into pan and cook over moderately low heat, stirring constantly, until slightly thickened and a thermometer registers 170°F. Pour through a fine sieve into a pitcher and serve warm.
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