Place cubed pineapple in a saucepan with water and sugar and bring to the boil; boil for 20 minutes, or until pineapple is translucent. Remove from heat and allow to cool.
While the pineapple is cooking, combine the egg yolks, condensed milk, regular milk and vanilla extract in a saucepan. Bring to medium heat, stirring often, until the mixture thickens and you can see the bottom of the pan when stirring. Pour into a 20x30cm dish and let cool.
Spread the cool pineapple over the cream mixture, then top with whipped cream. Chill in the fridge for at least 2 hours. Serve chilled.