In a heavy-bottomed pan, simmer milk on low heat, stirring occasionally, until it reduces to half its volume (about 45 minutes).
Add heavy cream, condensed milk, sugar, cardamom powder, and saffron milk. Stir well and cook for another 10 minutes.
Remove from heat and let cool. Stir in chopped nuts and rose water (if using).
Pour the mixture into kulfi molds or small airtight containers. Freeze for 6-8 hours or overnight.
To serve, dip molds in warm water for a few seconds to release the kulfi. Garnish with extra nuts and enjoy!
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