Whisk to combine 1/2 cup milk, egg yolks, sugar, salt and cornstarch in a large bowl. Set aside.
Heat remaining 4 cups of milk on stovetop until steaming, do not boil.
Slowly pour about half of the heated milk into the egg mixture to temper it, whisking until combined.
Pour tempered egg mixture gradually back into the remaining heated milk and heat over medium heat for approximately 5 minutes or until a thickened pudding consistency is achieved.
Remove from heat and stir in the vanilla and a few drops of yellow food coloring.
Pour into a bowl and cover with plastic wrap. Make sure the plastic wrap is touching all surface of the pudding to prevent a film from appearing.
Chill in refrigerator for approximately 4 hours.