In small saucepan, mix gelatin and 3 tablespoons of the sugar. In small bowl, combine yolks with milk. Stir into gelatin mixture. Over medium-low heat, cook, stirring frequently, until gelatin is dissolved and mixture registers 140°F on instant-read thermometer, about 8 minutes. (Do not boil.) Pour into large bowl; stir in juice. Refrigerate 15 minutes, stirring occasionally, until the consistency of unbeaten egg whites.