Step 1: Pour milk in deep bottom pan & cook at medium heat.Add in crushed saffron & green cardamon powder (if you are using). Cook for 10 minutes stirring from time to time.

Step 2: Now add in pistachio powder.Cook for 5 minutes stirring continuously.

Step 3: Add in condensed milk.Scoop all the condense milk from the tin. At this stage make the flame to low.

Step 4: Now fill the emptied condense milk tin with milk powder. Add water to form a paste
Not to worry if there are some lumps remaining in the paste. 

These lumps will give a good texture at the end result.
Add this milk powder paste to the boiling milk

Step 5: Cook the milk mixture on low flame to the above picture consistency. This will take approx 25-30 minutes to reach the desired consistency. (This will ensure no crystals)

Step 6: Note: How to take out Kulfi from the Molds
Wet your hand with water & rotate it on the frozen Kulfi molds or keep the frozen kulfi mold for a second under running water (KEEP THE MOLD LID CLOSED).

Now open the lid & insert a medium size fork in the center of Kulfi Molds.
Pull the fork towards your side.
Kulfi will come out with the fork.