State Fair Cream Puffs

Ingredients

• 1/2 teaspoon vanilla extract
• 1/4 cup confectioners' sugar
• 1 cup water
• 1/4 teaspoon salt
• 1 large egg yolk, lightly beaten
• 2 cups heavy whipping cream
• 1 cup all-purpose flour
• 1/2 cup butter
• Additional confectioners' sugar
• 2 tablespoons 2% milk
• 4 large eggs