Simmer the milk: Pour the milk into a heavy-bottom saucepan. Bring to a gentle simmer over medium heat. Stir often to avoid burning. Reduce by about one-third.
Sweeten it: Stir in condensed milk and sugar. Cook for another 10 minutes, stirring often.
Add flavor: Crush the cardamom pods and add them to the milk. Add saffron if using. Let it infuse as the milk thickens.
Add pistachios: Stir in the chopped pistachios, leaving a few chunks for texture.
Finish the base: Add heavy cream and rose water. Mix well.
Freeze: Pour the mixture into molds or small cups. Cover with foil and place wooden sticks in the center.
Set and serve: Freeze at least 6 hours or overnight. To serve, dip the mold in warm water for a few seconds and release the kulfi. Garnish with extra pistachios.