In a blender, combine the ripe mango pulp, condensed milk, whole milk, heavy cream, sugar, cardamom powder, and saffron strands (if using). Blend until you have a smooth and creamy mixture.
Pour the mango mixture into a heavy-bottomed saucepan and heat it over low-medium heat. Stir constantly to prevent it from sticking to the bottom of the pan. Cook for about 10-12 minutes, or until the mixture thickens slightly. Remove it from the heat and let it cool to room temperature.
Once the mango mixture has cooled, pour it into kulfi molds or popsicle molds. If you don't have molds, you can use small, disposable cups as well. Insert wooden sticks or popsicle sticks into each mold.
Place the molds in the freezer and let them freeze for at least 6-8 hours or overnight for best results.
To unmold the kulfi, briefly dip the molds in warm water to loosen them. Gently pull out the kulfi sticks, garnish them with chopped pistachios and almonds, and serve immediately.
