Put one cup milk in a small saucepan and sprinkle gelatin over the top. Turn heat on low and whisk until the gelatin is dissolved.

Put remaining ingredients in a blender and blend until smooth.

Add warm milk and gelatin and blend once more until smooth.

Pour into ice cream bar molds (I used this 10 bar capacity mold, which holds a total of 1 qt. This recipe makes almost exactly 1 qt of fudgesicle liquid, so keep that in mind.)

Place on a tray in the freezer for 8 hours or over night to freeze solid. Run under warm water briefly to loosen fudgesicles from mold.