Whisk together the Jello instant pudding mix and cold whole milk in a mixing bowl until smooth and creamy.

Let the pudding mixture sit undisturbed for 5 to 10 minutes to thicken.

Carefully pour the thickened pudding mixture into your popsicle molds or small paper cups, leaving half an inch space at the top.

Insert popsicle sticks into the center of each mold or cup, and cover with plastic wrap if needed to keep them upright.

Place the molds in the freezer and let them freeze for at least 6 hours, preferably overnight.

To release the pops, briefly run warm water over the outside of the molds and gently pull on the sticks.