Combine milk and butter in a large saucepan over medium heat; cook until butter is melted. In a small bowl, mix together brown sugar and flour. Gradually add to milk mixture; stir constantly over medium heat until thickened and set aside. Beat egg yolks in a small bowl. Stir in about 1/4 cup of hot milk mixture, a little at a time; mix well. Gradually stir yolk mixture back into milk mixture. Add vanilla; mix well. Pour into crusts. Chill until set, about 2 hours. Refrigerate any leftovers.
Tip: To pre-bake a pie crust, first pierce the sides and bottom thoroughly with a fork. Place in a preheated 475-degree oven and bake until golden, 8 to 10 minutes. Allow to cool before pouring in filling.
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