Place farro in a bowl and cover with several inches of cool water; let stand in refrigerator for 8 hours to overnight. Drain.
Place farro in a saucepan and cover with water; stir in a pinch of salt and bring to a boil. Reduce heat to medium-low, cover, and simmer until tender, about 15 minutes. Drain.
Mix milk, sugar, vanilla bean with seeds, and a pinch of salt together in a saucepan. Cook and stir over medium-low heat until sugar is dissolved and milk is warm, 5 to 7 minutes. Remove vanilla bean and add farro to milk mixture. Cook and stir until heated through, about 5 minutes.
