Remove the wheel and the brake rotor, so that you can get a hand behind the hub flange where the stud is seated. You'll feel the head of the stud back there.
Use a socket extension or something similar, place it against the broken face of the stud, and hammer it out. It'll fall out behind the hub flange, and you can grab it and remove it (if it doesn't fall to the ground). Insert the new stud (available at a parts store for less than $3) into the flange from behind, and press it as hard as you can to get it seated in the splines. Then stack washers onto the stud on the outside, where you can see it, and tighten a lug nut onto the stud. Use your tire iron to tighten the lug nut on the stud - this will pull the stud into place. You may have to stop once or twice to add more washers onto the stud, but keep doing this until you can't tighten it any further and the length of the exposed section of the stud is even with the others. Then reinstall your rotor and caliper, put the wheel back on (torque it with a torque wrench), and you're done.
Carefully tap it out and install a new stud. Place a socket or some other spacer over the stud then tighten the lug nut to pull the stud into place.
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