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Mix sugar, cornstarch, and salt together in a medium heavy-bottomed saucepan.
Gradually whisk in milk until smooth. Bring to a boil over medium heat, whisking often, about 8 minutes. Once mixture comes to a boil, cook, whisking constantly, for 1 minute.
Remove saucepan from heat, and stir in butter and vanilla.
Spoon pudding evenly into 5 serving dishes. Let stand until slightly cooled, about 10 minutes. For best results, cover with plastic wrap pressed directly on pudding to prevent a skin forming and refrigerate until chilled and set, about 2 hours.