In a stainless steel saucepan over medium heat, bring milk and sugar to a simmer until sugar has dissolved; a couple minutes.
Lower the flame and add in the crumbled milk solids.
Continue cooking the milk on a low heat for 30-40 minutes so the milk solids can dissolve. The texture will remain a bit grainy. Make sure to stir every once in a while to ensure that the milk doesn't catch at the bottom of the pan.
Add in the crushed cardamom seeds and nuts.
Pour the kheer in any freezer-safe molds (kheer molds are available online) and place in freezer for a few hours until the kheer is frozen.
To unmold, place a toothpick or popsicle stick into the center of the frozen kheerand place the mold in hot water for 10 seconds. Run a knife along the edge of the mold to loosen the kheer using the popsicle stick.
Enjoy!
Notes
You can get lollipop moulds and make you life easier! I chose the tough life :p