In a large bowl, whisk the egg yolks, sugar, and flour until pale and thick.
Heat the milk in a saucepan until just below boiling.
Slowly pour the hot milk into the egg mixture while whisking continuously.
Return the mixture to the saucepan and add vanilla extract.
Cook over medium heat, stirring constantly until thick and smooth.
Transfer to a bowl and cover the surface with baking paper to prevent a skin from forming.
Allow to cool completely.
Fold the whipped cream into the cooled pastry cream.
Refrigerate until needed.