Add the milk to a sauce pan with a heavy bottom and bring it to a boil.
Reduce the heat to medium and simmer, stirring occasionally, for about 45 minutes or until the liquid has been reduced by half.
Whisk in the sugar, cardamom, cinnamon and salt and continue cooking for another 5 minutes until everything has dissolved.
Strain through a sieve to remove any lumps and allow to cool completely.
Stir half the pistachios into the mixture and pour into popsicle molds. Freeze for 15 minutes at which point the mixture should be firm enough to insert popsicle sticks. Return to the freezer to set overnight.
To remove the kulfi from the molds, dip into a bowl of hot water for a few seconds. Sprinkle on the remaining pistachios and serve.