Dissolve gelatin in 2 Tbsp of milk in a small bowl then set aside. Place a mixing bowl and whisk attachment [from a stand mixer] in the freezer.
Add Truvia, cornstarch and salt to a medium-sized saucepan away from heat. Whisk until combined and no lumps of cornstarch remain.
Add egg yolks and whisk until combined then add remaining whole milk. Whisk mixture until completely smooth and the ingredients have dissolved completely.
Transfer saucepan to the stove and cook over medium heat, stirring constantly using a whisk until the liquid thickens and comes to a bubble. The sauce will first begin to thicken on the bottom of the pan where it is in contact with heat. You must continually remove the thickened sauce from the bottom of the pan or it will scorch. Don’t worry, just stir constantly, and don’t forget about the corners of the pan.
Once the first bubble rises to the surface, reduce heat to low and continue to cook for exactly 1 minute, whisking vigorously and constantly.
Remove sauce from the heat. Melt the gelatin in the microwave for 10–15 seconds. You want it to be liquid but not hot. Whisk vanilla into the gelatin mixture then stir until completely smooth and well combined. Transfer sauce to a medium-sized mixing bowl and place over another bowl filled with ice—a water bath if you want to be fancy about it. Stir occasionally while whipping the cream.
Remove bowl and whisk from the freezer. Add the chilled cream then attach whisk to the stand mixer. Whip until stiff. Return cream to the refrigerator until needed. When the sauce over the ice begins to get thicken and set, fold in whipped cream.
Use as an icing on a layer cake or transfer to individual serving bowls.
Bavarian cream is best when used as a filling or a dip because of it's stabilized thickness.