Cut pineapple and mango into 12 cubes each. Cut ladyfinger crosswise into 4 pieces each. Thread banana, pineapple, mango, strawberries and ladyfinger pieces onto skewers.

In a medium saucepan, combine milk, cream and vanilla bean; heat over medium heat just to a simmer. Remove from heat. Scrape seeds from vanilla bean into mixture; discard pod.

In a bowl, whisk together egg yolks and sugar, just to combine. Stir egg mixture into milk mixture. Return to medium heat and cook, whisking constantly, just until sauce is thickened, about 10 minutes, until sauce is creamy and coats the back of a spoon. Set the pan in a bowl of ice water, and stir the mixture until just cool. Transfer sauce to bowls and serve with the skewers.