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Step 1
Season the milk. In a medium saucepan, add the milk, rice, cinnamon stick, lemon rind, and orange zest. Use a small knife to split the vanilla pod in half lengthwise then scrape the seeds into the pan and discard the pod (if you are using vanilla extract, wait to add it until later).
Step 2
Bring to a simmer. Bring the mixture to a simmer over low to medium heat, whisking continuously for the first 3 minutes so that the milk and rice do not stick to the bottom of the pot.
Step 3
Cook the rice. Continue to cook rice, whisking vigorously every six or so minutes and until the rice is very tender and the mixture has started to thicken. This should take about 35-40 minutes. To check if the rice is cooked, taste a rice grain. It should be very soft. The consistency of the milk should be thick like heavy cream.
Step 4
Thicken. Dilute the cornstarch with 1/4 cup of water in a small bowl. Pour into the rice mixture over low heat, whisking until combined and the pudding has thickened yet is slightly pourable in consistency. This will happen quickly, so keep an eye on it. Remove from heat. It will continue to thicken slightly while it cools, so do not make it too thick.
Step 5
Finish. Remove and discard the lemon rind and cinnamon stick. Add the sugar and lemon zest (if using) and mix well to combine. Taste and adjust with more sugar if desired.
Step 6
Serve. Pour the pudding into 5 serving bowls and liberally sprinkle with ground cinnamon. It can be enjoyed, warm, at room temperature or cold.