Prepare the choux pastry:

• Preheat your oven to 400°F (200°C). Line a baking sheet with parchment paper.
• In a medium saucepan, combine the water, butter, vanilla extract, and sugar. Bring to a boil over medium heat.
• Once boiling, remove from heat and immediately add the flour. Stir vigorously until the mixture forms a ball and pulls away from the sides of the pan.
• Allow the dough to cool for about 5 minutes. Then, add the eggs one at a time, beating well after each addition until the dough is smooth and glossy.

Shape and bake the pastry:

• Using a piping bag or two spoons, drop tablespoon-sized mounds of dough onto the prepared baking sheet, spacing them about 2 inches apart.
• Bake for 15 minutes at 400°F (200°C). Then, reduce the oven temperature to 350°F (175°C) and continue baking for an additional 15 minutes, or until the puffs are golden brown.
• Remove from the oven and immediately make a small slit in the side of each puff to release steam. This helps prevent them from becoming soggy.
• Transfer the puffs to a wire rack to cool completely.

Prepare the filling:

• In a large mixing bowl, combine the heavy whipping cream, instant vanilla pudding mix, and milk. Beat on medium-high speed until the mixture is thick and holds stiff peaks, resembling a whipped cream consistency.

Assemble the cream puffs:

• Once the pastry shells are completely cooled, slice them in half horizontally.
• Generously spoon or pipe the cream filling onto the bottom halves of the shells.
• Place the top halves back on and dust with powdered sugar before serving, if desired.