Boil the milk in a saucepan. Simmer it.
Add the lemon juice and stir continuously, until the milk curdles.
Add the ice cubes, and let rest for about 10 minutes.
Drain the whey water out by transfering the milk contents (small chunks of paneer & whey water) onto a cheese cloth or a muslin cloth. Some people use dupattas for this purpose.
Wash the paneer in running cold water to get rid of the lemony smell, and set aside to drain for about half an hour.
Transfer the paneer to a bowl, and knead to a smooth consistency.
Make small balls of the paneer.
Make sugar syrup with two cups of water and sugar, in a pressure cooker.
Add the cardamom powder for flavoring, and let the syrup come to a rolling boil, and add the paneer balls one at a time. Give it a gentle stir, and cook the paneer balls until the cooker lets out a whistle.
Cook on slow heat for about five minutes after the whistle. Some people prefer to cook on slow heat for about twenty minutes in a saucepan with a lid (not in pressure cooker), stirring it every few minutes. Both methods work fine.
The rasgullas should be cooked and almost doubled in size.
Serve it chilled. Garnishing with nuts is optional.
If any of you have some tips to share, or some other way, please do share. :)