Traditionally one type of Milk pudding is made by boiling semolina, butter or magarine and sugar in milk. You put the pudding mixture in a saucepan and stir it frequently till it's fully thickened like porridge. Then you turn the heat low and leave it to cook.
You can make a healthy vegan alternative by boiling semolina and soya flour in water with sweetner added. Optionally you can add a little rape seed oil. That oil has so little flavour it can go with sweet dishes.