Add whole milk, condensed milk, and milk powder to a heavy bottomed pan. Bring to a boil. Add saffron and cardamom powder. If you like extra sweet, add sugar. Simmer the mixture for 10 minutes, stirring often. Cool till warm. Add nuts.
2. Pour mixture into 4 – 6 kulfi moulds (depending on size). Freeze at least 6 hours. Overnight is better. You can make the kulfi up to 1 week ahead and freeze.
Take moulds out of the freezer 10 minutes before serving. If kulfi is stuck, you can dip the mould in hot water and run a sharp knife along the edges to help release it. Serve immediately.