In a heavy-bottomed saucepan, heat the whole milk over medium heat, stirring constantly, until it reduces to about half its original volume. This will take approximately 20-25 minutes.
Add the sweetened condensed milk and sugar, stirring until completely dissolved.
Stir in the ground cardamom, chopped pistachios, and almonds. If desired, continue cooking for a few more minutes to allow the flavors to meld.
Add the rose water and a pinch of saffron, mixing well. Let the mixture cool to room temperature.
Pour the cooled mixture into kulfi molds or small cups, and cover with plastic wrap.
Place in the freezer for at least 6 hours, or preferably overnight, to allow it to set properly.
Before serving, let it sit at room temperature for 1-2 minutes to make it easier to remove from the molds. Garnish with chopped pistachios and almonds.
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