Spray four 3/4-cup custard cups with vegetable oil spray. Pour 1 tablespoon milk into small bowl. Sprinkle gelatin over and let stand until softened, about 10 minutes.

Combine cream, *1/4 cup sugar and 1/3 cup milk in heavy medium saucepan. Scrape in seeds from vanilla bean; add bean. Bring to boil over medium heat, stirring often. Remove from heat. *If using Splenda, omit sugar, add Splenda after straining mixture.

Add gelatin mixture and stir until melted. Strain mixture into large glass measuring cup. If using Splenda, add it now. Chill until cold, about 2 hours. Pour into custard cups, cover and chill overnight.

Run small sharp knife around sides of cups to loosen custards. Invert custards onto plates. Serve with sauce.

Note: Don't skip the "straining" step as it removes any bits of undesolved gelatin and insures a nice smooth dessert