In a small saucepan over low heat, heat milk and sprinkle gelatin.

Hydrate gelatin and whisk until it has melted.

Add condensed milk, heavy cream, and orange extract. Remove from heat and cool for 10 minutes.

Slowly pour into wine glasses and let set for 2-4 hours. Serve alongside sautéed pineapples (or grilled peaches!), caramel sauce, and/or sprinkled with toasted nuts/coconut.