Step 1

Bring milk, sugar and cinnamon stick just to boil in medium saucepan on medium heat, stirring frequently. Remove saucepan from heat, then remove and discard cinnamon stick.

Step 2

Add milk mixture to dry pudding mix in medium bowl; beat with whisk 2 min.

Step 3

Whisk egg yolks in separate medium bowl until blended. Gradually add 1 cup pudding mixture, mixing well after each addition. Add egg mixture to remaining pudding mixture; mix well.

Step 4

Heat oven to 450°F. Unfold 1 pastry sheet. Remove and discard papers. Refold pastry sheet along fold lines; place on lightly floured surface. Roll into 10x4-inch rectangle. Starting at one long side, tightly roll up pastry rectangle; cut into 12 slices. Repeat with remaining pastry sheet. Roll out each slice into 5-inch round.

Step 5

Spray 24 muffin pan cups with cooking spray; line with pastry rounds. Spoon pudding mixture evenly into pastry cups, adding about 2 Tbsp. pudding mixture to each cup.

Step 6

Bake 15 min. or until edges of pastry shells are golden brown. Cool 10 min. Remove filled pastry shells from muffin pans to wire racks; cool completely.