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In a medium saucepan, combine the milk, lemon zest, and vanilla sugar.
Heat the mixture over medium heat until it just begins to boil. Then, remove from heat.
In a separate bowl, whisk together the egg yolks and sugar until the mixture is light and creamy.
Sift the cornstarch into the egg yolk mixture and whisk until smooth.
Gradually pour the hot milk mixture into the egg yolk mixture, whisking constantly to prevent the eggs from scrambling.
Return the combined mixture to the saucepan and cook over low heat, stirring constantly, until the mixture thickens and coats the back of a spoon. This should take about 5-7 minutes.
Remove the saucepan from the heat. Stir in the lemon juice and condensed milk until well combined.
Beat the mixture with an electric mixer or whisk until it becomes thick and creamy.
Pour the custard into a serving dish or individual dessert cups. Let it cool to room temperature.
Place the custard in the refrigerator for at least 30 minutes to set before serving.