In a mixing bowl, whisk together the granulated sugar and egg yolks until slightly fluffy, about 1-2 minutes.

In a medium saucepan, gently heat the whole milk over medium heat until it simmers, about 5 minutes.

Slowly pour the hot milk over the egg yolk mixture while whisking to prevent scrambling.

Return the mixture to the saucepan and cook over medium heat, stirring until thickened, about 4-5 minutes.

Remove from heat as soon as the desired temperature is reached to prevent curdling.

Strain the mixture through a fine-mesh sieve into a clean bowl to catch any cooked egg bits.

Allow the sauce to cool at room temperature before refrigerating if serving cold.

Serve over desserts like ice cream, cake, or poached fruits.