Bring the milk to a boil in a heavy medium saucepan.
Using an electric mixer, beat the egg yolks and 6 tablespoons of the sugar in a large bowl until light and fluffy, about 5 minutes.
Mix in the flour.
Gradually mix in the hot milk.
Return the mixture to the saucepan. Stir with a whisk over medium-low heat until the pastry cream thickens and bubbles begin to break on the surface of the cream, about 2 minutes. Remove from the heat.
Press plastic wrap directly onto the surface of the pastry cream. Set aside and keep warm.
Combine 1 1/2 cups of sugar and 1/4 cup of water in a small, heavy saucepan.
Stir over medium heat until the sugar dissolves, about 3 minutes.
Boil without stirring until the syrup turns a deep amber brown color and just begins to smoke, occasionally brushing down the sides of the pan with a wet pastry brush and swirling the pan, about 8 minutes longer.
Immediately whisk the hot caramel into the pastry cream
Transfer the caramel cream to a large bowl. Press plastic wrap directly on the surface of the caramel cream. Refrigerate until cool, at least 3 hours.
Preheat the oven to 400°F.
Butter six 9-ounce soufflé dishes; coat with 2 tablespoons of sugar and place in refrigerator or freezer so the butter will get cold.
Place the soufflé dishes on a heavy baking sheet.
Whisk the caramel cream to loosen.
Using an electric mixer on medium-low speed, beat the egg whites in another large bowl until soft peaks form.
Gradually beat in the remaining 6 tablespoons of sugar. Continue beating just until firm peaks form. Fold the egg whites into the caramel cream just until blended (do not over mix).
Divide the soufflé batter equally among the prepared soufflé dishes.
Bake the soufflés until they puff but are still moist in the center, about 20 minutes.
In the bowl of a stand mixer, zest orange and grapefruit into the heavy whipping cream.
Slice the vanilla bean in half lengthwise and scrape out the seeds.
Add the vanilla bean seeds and sugar to the bowl of heavy cream and zest.
Whip the heavy cream mixture to soft peaks.