In a small dish, stir the gelatin and water together to combine. There should be just enough water to moisten the gelatin, creating a rubbery paste. Set aside.
Add the egg yolks and cornstarch to a medium-size bowl and beat with a wire whisk to combine. Set the bowl on a kitchen towel somewhere close to the stovetop. (This will keep the bowl from sliding around on your counter when you whisk in the hot milk.)
Set a 1 or 2 cup heatproof measuring cup next to the stovetop, preferably one with a pourable spout.
Add the milk, sugar, and salt to a 3-quart or larger heavy-bottomed saucepan and stir to combine. Cook over medium heat, stirring frequently, just until it barely begins to boil. Remove the pan from the heat.
Pour 1 & 1/2 cups (approximatly) of the hot milk into the glass measuring cup. Slowly pour the hot milk from the measuring cup into the egg yolks, pouring slowly, and whisking constantly. Then, pour everything back into the saucepan and set it over low heat. (You want to continue to heat the eggs slowly so they won’t scramble.)
Cook, stirring constantly until the custard is thick and begins to boil.
As soon as thickens to the consistency of pudding and barely begins to boil, remove from the heat and whisk for about 20 seconds longer. Pour the pastry cream into a bowl.
Break the gelatin into small pieces, dropping them onto the hot pastry cream. Let stand for about 20 seconds to let the gelatin to melt, then stir until the gelatin is completely incorporated. Stir in the vanilla.
Cover with plastic wrap, pressing the wrap over the surface of the pastry cream. Refrigerate for at least 3 hours and up to 48 hours. (*At this point, the pastry cream can be frozen for up to 3 months.)
Using an electric mixer, whip the heavy cream until stiff peaks form. (*See note below if you are going to use this pastry cream in something that will be baked.)
Remove the cooled pastry cream from the refrigerator and add to the whipped cream. Beat on medium speed with an electric mixer to combine, about 1 minute. The pastry cream is now ready to use in any recipe.