Combine all ingredients in a blender and blend until smooth and creamy. Pulse a couple of times to make sure all ingredients are blended together. Taste test the mixture to see if it is at desired sweetness. I added in +2 tbsps of condensed milk. Adjust the sweetness by adding in a tbsp of condensed milk at a time.
Pour kulfi mixture 3/4 of the way into 3 fl oz plastic drinking cups. Once poured into cups, stick each cup with a popsicle stick (bamboo forks, chop sticks, bamboo picks, skewers.. will work too) The stick does not have to hit the bottom of the cup, insert it about 3/4 of the way through. Wrap the tops of each cup with a small cut of foil. Poke the foil right through the stick. (You can also use whatever you have on hand such as popsicle molds or any size plastic drinking cups) If you are using nuts: sprinkle on top after pouring the mixture into cups.