Pour cream and milk in a saucepan, add sugar and vanilla seeds scraped with a knife. Warm cream and milk until they begin to simmer, then remove from the heat.

Prepare the caramel sauce now. Add the sugar in a small pan and melt it on medium heat without stirring until golden. Swirl the pan to melt the sugar. Pour in the orange juice and stir thoroughly.

Spoon the caramel into six glasses, if you want to serve the panna cotta as it is, or into six ramekins or moulds - I found silicone moulds are perfect for panna cotta - if you want to unmould the panna cotta and serve it with the caramel on top.

Pour now the cream over the caramel sauce and leave in the fridge until the next day.

To unmould the panna cotta pass a knife on the edges and gently tip the bottom of your mould.