Servings: 1 cup
Place all ingredients, except vanilla extract, into a saucepan and cook over medium heat, stirring constantly.
Once the mixture starts to boil continue stirring for 1 minute (until mixture slightly thickens). Remove from heat and add vanilla extract.
The sauce will slightly thicken as it cools. You can use the sauce right away or place it in an airtight glass jar in the fridge for up to 1 week. The sauce may harden after being in the fridge but just slightly warm it up and give it a stir when ready to use again.