A simple trick with a milk or juice box, do you know it?

For the topping:

Dark chocolate (melted)
Chopped nuts
Instructions:

Prepare the Milk Carton and Sticks:
Cut small slits in the carton where the popsicle sticks will go. Insert the sticks securely.
Make the Cream Filling:
Mix the pudding powder, sugar, and starch into the milk.
Cook over medium heat, stirring constantly, until it thickens.

Stir in the white chocolate until fully melted. Remove from heat.
Mix in the yogurt and combine thoroughly.
Fill the Milk Carton:
Pour the pudding mixture into the prepared milk carton. Cover with foil and freeze overnight.

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