Prepare the pudding according to package instructions: whisk together pudding mix and cold milk for about 5 minutes or until thickened.
Transfer the pudding mix into popsicle molds.
Be sure to insert the popsicle sticks into the filled molds before freezing.
Freeze the fudgesicles for about 8 hours until very firm.
Dip the molds into warm water for about 30 seconds to help loosen the fudgesicles from the molds.
Remove the fudgesicles from the molds and place them on a sheet pan lined with parchment paper to store in the freezer.
Notes
Use a piping bag to pipe the pudding into the molds for easy and cleaner transfer. Tap the molds on the counter to help the pudding pack down into the mold and remove most of the air bubbles.
If you can’t get your popsicle sticks to stand up right away, wait and pop them in once the fudgesicles have been in the freezer for 1 to 2 hours. You can leave fudgesicles in their mold for up to a week, but it is best to remove them within a day, so they don’t lose their texture and color.