Combine granulated sugar and milk in a large pot and mix well.
Add the remaining ingredients except the vanilla essence.
Bring mixture to a boil, stirring constantly heating to a temperature of about 120 degrees C or 250 degrees F.
Add vanilla essence, then remove from the heat.
Beat the mixture until thick and creamy.
Pour the mixture in a greased baking tray (18cm x 24cm) and allow to cool.
When nearly set, mark into squares with a sharp knife (used in a sawing motion).
Cool completely then serve.