Step 1: In a saucepan over medium-high heat, add the milk and rice and then scrape in the seeds from the vanilla bean and then add in the bean. Bring to a boil and then reduce to medium heat and simmer for 25-30 minutes or until rice is tender, stirring frequently.
Step 2: Stir in the next 3 ingredients (sugar - orange zest) and cook another 10 minutes or until mixture thickens. Discard vanilla bean and spoon pudding into bowls, cover and refrigerate for 5 hours or up to one day.
Step 3: Serve with orange segments if desired.
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