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In a medium saucepan (preferably heavy-bottomed), combine the milk and sugar.
Warm gently over medium-low heat, stirring until the sugar dissolves and the mixture begins to simmer softly.
Add the pinch of baking soda and stir. You may see some foaming, keep stirring gently.
Lower the heat so the mixture just simmers (small bubbles), and continue cooking until the volume reduces by about half and the liquid coats the back of a spoon. This typically takes ~30-45 minutes.
Remove from heat. If using, stir in vanilla or a pinch of salt.
Let it cool to room temperature. The mixture will thicken more as it cools. Transfer to a jar or airtight container and refrigerate
.