Sugar-Free Jello Pudding Pops Recipe

These easy sugar-free Jell-O pudding pops are made with two ingredients: sugar-free instant pudding mix and cold milk. Whisk them together, fill your molds, and freeze for a creamy, nostalgic treat.

They take about 10 minutes to prepare and need 4 to 5 hours in the freezer. Use chocolate for a classic pudding pop or choose another flavor your family loves.

Homemade Sugar-Free Jell-O Pudding Pops

If you remember pudding pops from childhood, you probably understand the excitement of finding one tucked away in the freezer. This homemade version brings back that familiar idea with a box of instant pudding, milk, and a little freezer patience.

I use low-fat Lactaid milk for mine. The pudding mixture takes just a few minutes to whisk together, and the finished pops are ready to pull out for an after-school snack, a warm afternoon, or whenever a chocolate craving calls.

A note about sugar: The instant pudding mix in this recipe is sugar-free, but dairy milk contains naturally occurring sugar called lactose. Check the labels on the milk and pudding mix you use if you are tracking sugar or carbohydrates.

Why You'll Love These Pudding Pops

• Just two ingredients: All you need for the basic recipe is instant pudding mix and milk.
• Quick to prepare: Mix, fill the molds, and let the freezer take over.
• Easy to change up: Try chocolate, vanilla, or another sugar-free instant pudding flavor.
• Great for making ahead: Prepare a batch the day before you want to serve it.
• Nostalgic: They have all the fun of a homemade freezer pop with creamy pudding flavor.

Sugar-Free Pudding Pops Ingredients

You'll need:

• 1 small box sugar-free instant pudding mix: Choose a four-serving box of Jell-O or another brand. Chocolate is a classic choice, but vanilla and other available flavors work too. Package weights can vary by flavor, so check the serving information on the box.
• 2 cups cold low-fat milk: I use low-fat Lactaid milk. Regular low-fat dairy milk works as well. Whole milk may give the pops a richer texture.

Be sure to choose instant pudding, not cook-and-serve pudding. The instant variety thickens when whisked with cold milk and doesn't require cooking.

Equipment You'll Need

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• Mixing bowls for preparing the pudding
• Whisk for mixing the pudding and milk
• Measuring cups for the milk
• Popsicle molds or small paper cups and wooden sticks
• A zip-top bag and scissors, if you prefer to pipe the pudding into the molds

How to Make Sugar-Free Jell-O Pudding Pops

This recipe makes approximately 6 pudding pops, depending on the size of your molds.

1. Whisk the Pudding

Pour 2 cups cold low-fat milk into a mixing bowl. Add 1 small, four-serving box of sugar-free instant pudding mix.

Whisk for 2 to 3 minutes, until the mixture is smooth and begins to thicken.

2. Fill the Molds

Spoon or pour the pudding mixture evenly into popsicle molds. Leave a little room at the top for expansion.

For a neater way to fill narrow molds, transfer the pudding to a zip-top bag, snip off a small corner, and pipe the mixture into the molds.

3. Add the Sticks and Freeze

Insert the sticks or add the mold lids. Freeze for 4 to 5 hours, or until the pudding pops are completely firm. Larger molds may need more time.

4. Unmold and Enjoy

Run the outside of the mold under warm water for a few seconds to loosen the pops. Gently pull them out and serve immediately.

Readers also make: For another cool treat, try my Coconut Ice Pops. They are a creamy, tropical addition to the freezer.

Tips for Creamy Pudding Pops

• Start with cold milk. Cold milk helps the instant pudding mixture thicken as you whisk.
• Mix until smooth. Scrape the bottom of the bowl as needed so there are no pockets of dry mix.
• Fill the molds promptly. The pudding thickens as it sits. Spoon or pipe it into the molds while it's still easy to handle.
• Leave a little space. Don't fill the molds all the way to the rim.
• Freeze until solid. The time can vary with the size of the molds and your freezer. Overnight works well when you're preparing them ahead.
• Warm the outside of the mold. A few seconds under warm water helps release the pops without pulling the sticks out.

No Popsicle Molds? Use Paper Cups

Small paper cups work well when you don't have a mold. Set the cups on a tray that will fit in your freezer and divide the pudding mixture among them, leaving a little space at the top.

Cover each cup with foil and insert a wooden craft stick through the center. Freeze for 4 to 5 hours, or until firm. Peel away the paper cup before serving.

Flavor Variations

The basic recipe is easy to customize. Check the labels on any additions if you want to limit sugar, and keep in mind that fruit contains naturally occurring sugar.

Chocolate Pudding Pops

Use sugar-free chocolate instant pudding for a classic chocolate pop.

Vanilla Pudding Pops

Use sugar-free vanilla instant pudding for a mellow, creamy flavor.

Chocolate and Vanilla Swirl

Prepare one full batch with chocolate pudding and a second full batch with vanilla pudding. Spoon alternating layers into the molds, then gently swirl with a thin utensil before adding the sticks and freezing.

Two batches make approximately twice as much mixture as the basic recipe, so have extra molds or paper cups ready. The yield depends on their size.

Chocolate Peanut Butter

Try stirring a little creamy peanut butter into chocolate pudding before filling the molds. Choose an unsweetened peanut butter if you prefer to avoid added sugar.

Vanilla Berry

Fold a few finely chopped berries into vanilla pudding before freezing. The fruit adds its own natural sugar and may make the texture a little icier.

Perfect with: Set out a few pudding pop flavors alongside my Avocado Ice Pops for a simple make-ahead frozen dessert selection.

Make-Ahead and Storage

Make these pudding pops at least 4 to 5 hours before serving, or freeze them overnight so they're ready when you need them.

Keep the frozen pops in their molds until serving. If you need the molds for another batch, remove the firm pops, wrap them individually in parchment or wax paper, and place them in a freezer-safe bag or airtight container.

For the best flavor and texture, enjoy them within 1 to 2 weeks.

Frequently Asked Questions

Can I use almond milk or another plant-based milk?

Some instant pudding mixes thicken differently with plant-based milk, and the result can vary by brand and amount. Check your pudding package for plant-milk directions, or test a batch with your preferred milk. The texture and yield may differ from this dairy-milk version.

Why are my pudding pops icy?

Texture can vary with the milk and mix you use. Lower-fat milk can freeze firmer than whole milk, and extra liquid or fruit can contribute to an icier pop. For a richer texture, try the recipe with whole dairy milk.

Can I use regular instant pudding?

Yes. Regular instant pudding can be used with this method, but the finished pops will contain added sugar. Check the package directions and serving size because products may vary.

Are these pudding pops keto?

That depends on the ingredients and portion size. Dairy milk contains carbohydrates, and sugar-free pudding mixes can contain carbohydrates too. Check the labels and calculate the total for your own ingredients if you follow a keto eating plan.

How do I get pudding pops out without pulling out the stick?

Make sure the pops are frozen solid, then run the outside of the mold under warm water for a few seconds. Gently loosen the pop instead of tugging hard on the stick.

Can I make pudding pops without popsicle molds?

Yes. Use small paper cups, foil, and wooden sticks as described above. The number of pops and freezing time will depend on the size of the cups.

More Frozen Treats to Try

If you're stocking the freezer, try my Coconut Ice Pops or Avocado Ice Pops. You'll find more ideas in my Homemade Ice Cream, Toppings & Frozen Drinks collection.

This recipe was originally published June 30, 2014, and updated with additional tips and clearer instructions.