In same saucepan, cook and stir sugar and water over medium heat until sugar dissolves. Cook, without stirring, until sugar begins to turn amber. Swirl pan; cook until golden brown. Divide sugar syrup among 6 (6-oz) custard cups; tilt cups to coat bottoms. Let syrup harden. In medium bowl, mix whole eggs, egg yolks and vanilla with whisk. Stir in condensed milk and reserved milk. Pour over syrup in cups. Place in 13x9-inch pan. Pour hot water into pan to within 1/2 inch of tops of cups.