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Mango Ice-Cream

1 lt Milk
1/8 Cup Milk Powder
1/3 Cup Sugar
1/2 tsp Agar Agar Powder
1/2 tsp Custard Powder
3/4 Cup Mango Pulp
Boil milk until it is reduced to half its volume. Add sugar and boil to dissolve. Add custard powder and boil for a minute, stirring constantly. Add agar agar powder, stir and remove from heat. Cool and add milk powder and mango pulp. Beat the mixture well in a baking pan and allow it to freeze partially, covered with plastic wrap or foil. After an hour, transfer mixture to a chilled bowl and beat the frozen mixture until smooth. Return mixture to baking pan and cover it with plastic wrap or foil. Let it set in a freezer.