Soak almonds in water till peel softens and then peel them. (I soak almonds overnight. But 2-3 hours would suffice too.)
Add peeled almonds in a mixer jar along with 2-3 tbsp milk and grind to a coarse paste.
Bring milk to a boil, and then lower heat and simmer till it reduces to a bit less than half. (Keep stirring to ensure it doesn't spill, or stick to the vessel.)
Add sugar, almonds' paste, chopped pistachios, saffron, and cardamom powder.
Keep stirring till the mixture reduces to 1/3rd of the original quantity of 1 liter. (Mixture will thicken some more after it cools down.)
Allow the mixture to cool and then pour in the clay pots (matka).
Garnish with some saffron strands and pista pieces on top.
Cover the pots with a silver foil, put a rubber band around the foil, and keep the pots in freezer for 5-6 hours for the kulfi to set. (Seal the pots tightly otherwise ice could form inside.)