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Make a caramel by melting and reducing the balsamic vinegar and sugar together in a saucepan on a low heat until thick. Set aside. Place the peas and onions on the cooking tray.
Steam for 15 minutes with the main course and the dessert.
When cooked, process the peas with a food processor or blender, with the hot milk and the mint and then strain through a fine sieve. Season with salt and pepper. Serve immediately in shallow bowls with a drizzle or dots of balsamic vinegar.