Add brown sugar and water to a small pot. Heat over medium heat and stir until the sugar melts. Continue heating until the mixture thickens and turns deep brown—watch carefully to avoid burning.

Turn off the heat and immediately pour in the milk and heavy cream. Heat on low and stir quickly until fully combined. Let cool to room temperature.

Crack the eggs into a bowl and add the lemon juice. Lightly whisk without creating too many bubbles.

Slowly pour the cooled caramel milk into the eggs while stirring gently.

Strain the mixture through a fine sieve to remove egg strands and bubbles. This step ensures a perfectly smooth pudding.

Divide the strained mixture into your serving bowl or ramekins, filling them only about 80% full to allow space for expansion.

Cover the top of each bowl tightly with aluminum foil. This prevents steam from dripping onto the surface of the pudding and creating holes.

Bring the steamer water to a boil and carefully place the covered bowl(s) into the steamer.

Steam over medium-low heat for 10 minutes. Then, turn off the heat but do not open the lid. Let the pudding sit in the residual heat to finish cooking for another 10 minutes.

Remove, let cool, and enjoy. You can also chill before serving for a firmer texture or top with boba pearls.