In a saucepan, combine condensed milk, sugar, butter and glucose. Heat on medium until butter is melted and sugar is dissolved, then bring to a boil. Simmer, stirring continuously, for 5-6 minutes.
Remove pan from heat, and wait for bubbles to disappear. Add the vanilla paste and extract and stir to combine. When vanilla is mixed through, add chocolate and stir until smooth and no chocolate lumps remain.
Pour into prepared pan, cool on bench for 2-3 hours before transferring to refrigerator. Cut into even pieces and store in refrigerator until ready to serve.
Thermomix
Place broken up chocolate into Thermomix. Lid on 5 seconds at speed 9. Remove the chocolate and set aside for later use.
Add condensed milk, chopped butter, sugar, and glucose syrup to Thermomix. Place the lid on the Thermomix but not the MC. Cook for 8mins at 100C on speed 3.
Open the lid and scape the sides and bottom of bowl with spatula.
Cook for a further 20mins at Varoma Temp on Speed 3 without the MC.
Add the chopped chocolate, and both types of vanilla to the Thermomix. Combine for 10 secs on Speed 3-4.
Repeat this process until the chocolate has melted and is combined.
Pour the fudge into a lined square 20 x 20cm tin or slice tin, refrigerate until set.