I had what I call a warm orange creamsicle for breakfast.
I use a stick blender for this, but you can use a regular blender, too. Just make sure to clean either one immediately, or you will have cement later.
Make it from 2 cups ice cold water, 1 vanilla packet and 8 drops (about 1/8 tsp) pure orange extract. Resist the urge to add more orange, it's strong. If you do want a little extra, add by the single drop. Trust me.
Place water in stick blender cup/blender first. Add orange and pulse. Add pudding and blend. I like to make it frothy, so when I drink it warm, there's like a foam topper, similar to whipped cream.
My stick blender cup goes in the microwave - if using a blender, pour result into a large 4 cup bowl and microwave for 2 mins. You need the extra room because it does foam more in the micro.
Next, I use a smaller coffee mug to drink. Pour in some and the foam rises to the top. I get 5 small mugs from my concoction, YMMV depending how big your mug is. If you want the drink warmer, micro your mug for 30 second intervals.
My point here is that you end up with a mug of hot vanilla cocoa, like white chocolate, w/ orange flavor. Like a melted creamsicle!! Very tasty and warm and filling, like a new treat.
FinnSteve has more "warm pudding packet drink" ideas, check them out. I also make the dark choco pudd into a melted peppermint patty drink. Just be so so so careful w/ peppermint extract, a single drop is very powerful.