In a small saucepan, heat the milk. Scrape the seeds from the vanilla bean into the milk, then add the bean pod as well. Bring to a simmer, then remove from the heat and let steep for 5 minutes.
In a bowl, whisk together the egg yolks, sugar, and cornstarch until smooth.
Gradually pour the vanilla-infused milk into the egg yolk mixture, whisking constantly.
Return the mixture to the saucepan and cook over low heat, stirring constantly, until it thickens into a custard.
Once thickened, remove from the heat and stir in the butter until melted and smooth. Let cool completely.
Slice the croissants in half lengthwise, being careful not to cut all the way through, creating a pocket.
Fill the croissants with the vanilla cream using a piping bag or a spoon.
Dust the tops of the croissants with powdered sugar and serve fresh or at room temperature.
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