I've made this pudding with low-fat soy milk; fat-free should work. I've made it with white and brown sugars; a heat-stable sugar substitute, if you can tolerate it, should work. I've made the chocolate and rice variations, as well. I hope this is of use to you.
Simple Vanilla Pudding
2 cups soy milk 3 tablespoons honey or malt syrup or 4 tablespoons (1/4 cup) brown sugar 3 tablespoons cornstarch 4 egg whites, well-beaten (optional; see Eggless variation) 1 tablespoon vanilla
Heat 1 1/2 cups milk and sweetener to simmer in a heavy saucepan over low heat. In a measuring cup, mix remaining 1/2 cup milk and cornstarch; stir into hot milk. Stir constantly over medium heat until thickened and starting to boil, about 2 to 3 minutes.
Stir about 1/2 cup of the hot mixture into beaten eggs. Dribble egg mixture into pan and stir over low heat for one minute. Remove from heat and stir in vanilla. Serve warm or chilled in 4 dishes. This is less sweetened than commercial pudding and additive-free.
Butterscotch. Use brown sugar as sweetener, or add 2 tablespoons molasses to honey. Stir in 2 tablespoons butter after removing from heat. Reduce vanilla to 1 teaspoon.
Carob. Mix 1/4 cup carob powder with 3 to 4 tablespoons hot water until smooth. Stir into finished pudding. Reduce vanilla to 1 teaspoon.
Chocolate. Add 1/4 cup unsweetened cocoa powder to the milk with the sweetener. Reduce vanilla to 1 teaspoon.
Eggless. Use any cooking method and proceed as directed, omitting the eggs. Other variations can also be made without eggs.
Lemon. Substitute 3 to 4 teaspoons lemon juice for vanilla, and add either 1 teaspoon grated lemon rind or 1 teaspoon lemon extract.
Rice. Increase milk by 1/4 cup. Add 1 to 1 1/2 cups cooked rice to finished pudding. Top with ground nutmeg or raisins (if you can tolerate them). --adapted from _Whole Foods for the Whole Family_