To make rasgulla, you need to first make paneer/chena from the milk. You can also use unsalted paneer from market.
Heat whole milk in a non-stick pan and bring it to boil.
Keep stirring once a while.
When milk is boiled, remove the milk from heat and keep aside for 1-2minutes.
After 1-2 minute add lemon juice, as the milk starts to ferment stop adding lemon juice.
Once the milk is fermented, filter it and remove excess water.
Place a muslin cloth/cotton cloth in a strainer and put the fermented milk on it to separate remaining water from chena.
Put the sugar in a pressure cooker or pan with lid, add 2.5 cup of water and cardamom powder in it and allow sugar chashni to come to boil.
Now put chena on the plate and using your hand press for 5-6 minutes until chena becomes completely smooth (You can use blender also).
Take the small portions of chena in your hand and shape them into balls.
Roll the chena balls between your palms and keep all of them on a plate.
Once sugar syrup starts boiling add 1 tsp milk, after adding milk a brownish froth will start appearing on the surface of the chashni, remove all the forth using a spoon.
Now put all the paneer balls in boiling chashni and close the lid of the pressure cooker. Cook on high flame until it simmers (whistle) once.
Reduce the flame to medium heat and cook for 13-15 minutes more while the lid is still closed.
Turn off the stove and let it cool down completely. Once the pressure cooker cools down open the lid.
Rasgullas has become puffy and doubled in size. Now take them out in a bowl .