Most indian sweets do not use eggs, including Kulfi.
The ingredient that will make the kulfi set into a hard solid when cooled would be something called "khoa", which is basically milk reduced to only the solids by boiling with constant stirring. My guess is that substituting with dry milk powder would be equivalent, or you can look for 'khoa' in a local indian grocery store (i would be careful about the quality - the store probably has it on the shelf in the cooler for a longish time).
here is what I would suggest:
2 tins condensed milk (sweetened)
1 cup whole fat milk
1 cup khoa (or 1/2 cup milk powder)
1/2 tbsp AP Flour
dry fruits as you fancy...
mix milk, condensed milk, milk power and heat to a boil. Add the flour and cook for another 2-5 minutes. Stir constantly to prevent the bottom from burning.
Usually this would be put into molds and frozen as is, but you could put this into your icecream maker and give it a whirl!
Let us know how it turns out, I have never tried it in an icecream maker...
If you are adventurous, you could try adding one of mascarapone, cream cheese, ricotta for different variations on the flavour, you might need to reduce the amount of the milk powder accordingly.
GA1