Combine the milk in a wide saucepan and bring to a gentle simmer over medium-low heat. Cook, stirring and scraping the bottom often, until reduced by nearly half and thick enough to coat a spoon, about 35 to 40 minutes.

Add the sugar, cardamom pods, and saffron. Simmer 5 to 7 more minutes, then remove from heat. Cool 20 minutes and remove the cardamom pods.

Stir in the pistachios and almonds. Pour the mixture into molds or a lined loaf pan, insert sticks if using, and freeze until solid, at least 6 hours.

Run the molds under warm water for a few seconds, then unmold. Serve immediately.