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Preheat oven to 350F and put mini tart shells on a baking sheet.
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Mix together the brown sugar and the all purpose flour.
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Add eggs, milk, and vanilla extract.
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Mix very well and pour the filling into the shells.
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The sugar tartlets are cooked when the center is firm, approximately 18 to 20 minutes.
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Cover and let them sit at room temperature for about 2 hours.
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Serve at room temperature with vanilla ice cream.