Mousse over Oranges
Grate the zest from one orange. Peel the other oranges with a sharp knife making sure to remove all the white pith. Section the oranges and arrange on a plate.
Soak the gelatin in cold water. Beat the egg yolks and sugar in a hot water bath until frothy. Melt the chocolate with the vanilla beans and the milk and slowly beat into the egg yolk mixture, stirring constantly. Place over a hot water bath and beat until creamy. Remove 1/3 of mixture and set aside. Squeeze the gelatin, dissolve in the cream, then allow to cool while stirring. Refrigerate until set. Scoop out the mousse with two spoons to form quenelles and place on the orange segments to serve.