Let’s break down the process into easy-to-follow steps.

1. Prepare for Baking: Preheat the oven to 400°F (200°C). Line 2 baking sheets with parchment paper.

2. Make the Choux Pastry: In a medium saucepan, heat ½ cup of water, cubed butter, milk, granulated sugar, and salt over medium heat until the mixture comes to a boil.

3. Add Flour: Remove the pan from the heat, add the flour, and stir with a wooden spoon.

4. Cook the Dough: Once all the flour is incorporated, place the pan back over medium heat. Stir, continuously, until the dough is smooth, forms a skin on the bottom of the pan, and is pulling away from the edges of the pan, 4 to 5 minutes.

5. Add Vanilla: Stir in the vanilla.

6. Cool Slightly: Place the dough into the bowl of a stand mixer. Allow the dough to cool for 5 to 7 minutes.

7. Incorporate Eggs: Using the stand mixer fitted with the paddle attachment, beat the dough for 1 minute on medium speed. Beat in the eggs, one at a time, scraping down the sides and bottom of the bowl after each addition. Beat very well until the eggs are fully incorporated. The dough should be smooth and glossy.

8. Pipe the Eclairs: Transfer the mixture to a zip-top bag with ½ inch snipped off one bottom corner (or a piping bag fitted with a large round tip). On one of the prepared baking sheets, hold the piping tip ½ inch above the parchment paper and slowly pipe logs about 4 inches long and 1 inch wide. Stop squeezing and move the tip in a quick circular motion as you lift away to avoid logs that end in a point. If necessary, use a wet finger to smooth any points on the eclairs. Repeat with the remaining batter and remaining baking sheet, piping 8 to 10 eclairs per baking sheet.

9. Bake: Bake the eclairs, one baking sheet at a time, until they are puffed and golden brown, 25 to 30 minutes, reducing the oven temperature to 350°F (175°C) 10 minutes into baking time.

10. Cool: Cool completely on a wire rack.

11. Make the Filling: Meanwhile, in a large bowl, whisk together the milk, ½ cup of sweetened condensed milk, pudding mix, and vanilla bean paste until well combined, 2 minutes. Allow the pudding to sit for 5 minutes until thickened.

12. Whip the Cream: In another large bowl, use a hand mixer to whip the cold heavy whipping cream with the remaining 2 tablespoons of sweetened condensed milk on high, beating until firm peaks form.

13. Combine Filling Components: Fold the whipped cream into the thickened pudding mixture in 3 additions.

14. Fill the Eclairs: Transfer the mixture to a piping bag fitted with a ½-inch round piping tip (Wilton 1A is recommended). Use a toothpick or the end of a chopstick to poke 1 hole into the bottom of the eclairs. Insert the piping tip into the hole, and pipe filling until the eclairs are evenly filled.

15. Make the Glaze: Place the chopped chocolate in a medium heatproof bowl. In a large glass measuring cup or another medium bowl, microwave the heavy cream until steaming, 45 seconds to 1 minute. Immediately pour the warm cream over the chocolate and allow to sit for 1 minute before whisking until smooth. If the chocolate is not fully melted, microwave the mixture at 50% power at 15-second intervals, stirring until smooth.

16. Glaze the Eclairs: Set a wire rack over a baking sheet. Dip the tops of the eclairs into the chocolate, only submerging the tops and letting any excess chocolate drip off. Set the dipped eclairs onto the prepared wire rack.

17. Set the Glaze: Allow the chocolate to set before enjoying, about 20 minutes.

18. Store: Store the eclairs in an airtight container in the refrigerator for up to 3 days. They are best enjoyed the day they are made.

These are clear and easy instructions.