In that case, I would proceed to deal the three cards for the flop (without reshuffling), and after betting action on the flop has been completed, deal the turn card without burning. And then burn and deal the river as normal. This keeps 4 out of the 5 board cards the same as if no error had occurred. In my view, this is definitely preferable over reshuffling the deck with the muck, only to have mucked cards re-appear on the flop, turn or river.
As an aside for the other Rule theorists on the forum, I should note (as Stuart rightly points out) that Robert's Rules (Holdem #6) explicitly says that in general where no cards or multiple cards are burned, "subsequent cards dealt should be those that would have come if no error had occurred", and this does seem to be the fairest solution. However, there is a seemingly contradictory rule (RROP Holdem #4) that says in pre-flop situations specifically, if two/zero cards are burned and boardcards are exposed, the deck "must be reshuffled if any boardcards were exposed". I think the idea of reshuffling the flop in general is a bit antiquated and losing favor, as somewhat evidenced by the new TDA rule dealing with four-card flops, and I would go out on a limb to say that the current trend is that a reshuffle that would almost certainly result in a wholly different flop is no longer the choice of TDs except under the rarest of circumstances.
