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Take a deep non stick pan; add sugar, water and cook, till the sugar gets caramelized or golden brown
Once done remove from the flame, don't let the sugar burn .pour the mixture into silicon moulds and keep aside.
Now take a bowl, whisk in yogurt, milk, condensed milk, custard powder and vanilla essence mix well into a smooth mixture, avoid lumps and keep aside
Now fill the mixture into the moulds and leave aside, take pressure cooker to fill with ¾ of water, place the resting rack in the center now place a plate on the rack, set the moulds on top of the plate and close the cooker and let it steam for about 20 to 25 minutes.
Once done take it out from the cooker and let the moulds rest till cools down, demould and serve the caramel custard chilled.