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First, create a 'beurre noisette', browned butter that gives the madeleines a beautiful nutty flavour. It's simple, melt the butter in a small saucepan until the butter starts to turn a little bit brown.
This doesn't mean burnt, so keep an eye on the butter. Turn down the heat and let it cool a little bit. In the bowl of your mixer, COMBINE milk, honey, eggs, sugar and vanilla sugar until you've reached a smooth mixture.
SIFT the flour and baking powder and add to the mix. ADD the beurre noisette and now the batter is done. SCOOP the batter into a piping bag, if you don't own one you can keep the batter in the bowl.
Store in the fridge until the batter has cooled down. PRE-HEAT the oven to 210 degrees Celsius or 410 degrees Fahrenheit. COAT the madeleine pan to prevent the madeleines from sticking.
When the batter has cooled down and the oven is pre-heated, you can fill the madeleine pan about 3/4. You can easily do this using the piping bag, but it will also work with a spoon.
Keep in mind they will rise in the oven. BAKE them in the oven for about 10 minutes, depending on your oven. Keep an eye on them, they tend to colour before you even notice it!