Warm the milk to lukewarm (around 105°F). In a large mixing bowl, dissolve the sugar in the warm milk, then sprinkle the yeast over the top. Let stand for 10 minutes until foamy.

Add the melted butter, salt, and eggs to the yeast mixture and stir to combine. Gradually add the flour, one cup at a time, mixing until a soft dough forms.

Turn the dough onto a lightly floured surface and knead for 8-10 minutes until smooth and elastic. The dough should be soft but not sticky.

Place the dough in a greased bowl, cover with a clean kitchen towel, and let rise in a warm place for 60 minutes or until doubled in size.

Punch down the dough and divide it into 8 equal portions. Shape each portion into a smooth ball by tucking the edges underneath.

In a large, wide pot with a tight-fitting lid, combine the milk and butter for steaming. Heat over medium heat until the butter melts.

Arrange the dough balls in the pot, leaving space between them. Cover tightly with the lid.

Cook over medium-low heat for 25-30 minutes without lifting the lid. The dumplings will steam and develop a golden crust on the bottom.

While the dumplings steam, prepare the vanilla cream sauce. In a saucepan, heat the heavy cream with the vanilla extract and sugar over medium heat. In a small bowl, whisk the egg yolks with a tablespoon of the warm cream, then slowly pour the egg mixture back into the saucepan while whisking constantly.

Cook the sauce over low heat, stirring continuously, until it thickens enough to coat the back of a spoon (about 5-7 minutes). Do not let it boil.

Remove the Dampfnudeln from the pot carefully and serve immediately with warm vanilla cream sauce drizzled over the top.