Print Recipe

Creamy Caramel Milksicles

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  • 1 1/2 cups low-fat milk
  • 1/3 cup granulated sugar
  • 2 tablespoons cornstarch
  • 1 1/2 teaspoons vanilla extract
  • 1/3 cup caramel ice cream topping at room temperature
  • 6 (3 ounce) plastic or paper cups or 6 (2.5 ounce) freezer pop molds
  • 6 popsicle sticks


  1. Combine sugar and cornstarch in a medium saucepan and gradually whisk in milk. Simmer over medium heat until thickened, about 2 minutes, whisking frequently.
  2. Remove from heat; stir in vanilla extract.
  3. Transfer to a large shallow bowl; place in refrigerator for about 40 minutes, stirring occasionally.
  4. Drop heaping teaspoonsful of caramel topping randomly over pudding. Gently swirl into pudding.
  5. Spoon mixture into plastic cups; place cups in an 8-inch baking pan or pie pan.
  6. Place popsicle sticks in centers.
  7. Freeze until firm.