Mix evaporated milk and dulce de leche in a medium saucepan and heat until it begins to boil; mix a small amount of hot mixture with egg yolks and vanilla extract. Add egg yolk mixture back into dulce de leche mixture and heat until it thickens.
Divide mixture between 6 small individual bowls; let cool and refrigerate for an hour. Sprinkle sugar over each bowl; use a kitchen torch or broiler and melt the sugar. Serve immediately.