Keep stirring continuously and allow it to reduce in volume.
Scrape the sides of pan regularly.
Once milk is almost thickened, add sugar and continue stirring.
Keep stirring till it comes together.
Switch off the flame. Once it cool down it will thicken more.
Palkova is ready to serve
Notes
Cook in medium flame without burning Adjust the sugar according to your taste. First I added 2 tbsp and later tasted and added 1 tsp.You can add any nuts or cardamom powder for taste.