Preheat the oven to 140°C.
Boil milk and cardamom in a heavy pan, then reduce to one-third of the original volume.
Add sugar and toasted pistachios, stir over low heat until dissolved, then cool and add screwpine essence.
Churn the mixture in an ice cream machine, spoon into moulds, and freeze until firm.
Whisk condensed milk, yoghurt, and passion fruit purée, then pour into lined ramekins topped with passion fruit pulp.
Bake the ramekins in a water bath for 30 to 40 minutes, then cool and chill.
Melt chocolate over simmering water; whisk egg yolks over heat until they reach a ribbon-like consistency.
Fold whipped double cream into the melted chocolate and yolks, then add ground pistachios and liqueur to set.
Simmer passion fruit purée, sugar, chilli, and salt, thicken with cornflour, and finish with lime juice.
Plate the bhapa doi with kulfi, chocolate mousse, raspberry coulis, chutney, and fresh garnish.