Add milk into a heavy-bottomed pan.
Add milk powder to a bowl, transfer about 3 to 4 tablespoons of milk from the pan, and mix with the milk powder to make a slurry. Set this aside.
Switch on the heat to medium, and bring the milk to a boil, stirring occasionally in between.
Once the milk comes to a boil, reduce the heat to medium-low, cook, stirring frequently, until the milk reduces to half of its original quantity, i.e from 4 cups to 2 cups.
Add the sugar, crushed saffron strands, milk powder slurry, chopped nuts, and mix well and cook for another 10 minutes over medium-low heat, or until the mixture is thick and creamy. You should end up with about 1 and 3/4 cups of thickened and sweetened milk.
Add the cardamom powder, mix well, and switch off the heat.
Let the milk cool completely to room temperature.
Add the mango pulp to the reduced milk mixture, and mix well.
Pour in kulfi molds or popsicle molds.
Cover with aluminum foil. Insert a stick through the foil, and freeze the molds for 8 to 10 hours.
To serve, dip the mold in warm water for a few seconds, pull it out gently to release it from the mold.