Pour the milk into a pot and bring to a boil over medium heat. Mix the lemon juice with 2 tablespoons of water.

Once the milk comes to a boil, reduce the heat to low. Gradually add the lemon juice mixture while stirring constantly. In a minute or two, the milk will curdle. When the curds (chenna) and whey separate completely, turn off the heat. Line a large strainer with a muslin or cheesecloth and pour in the curdled milk. The chenna will stay in the cloth and the whey will drain out. To remove the lemony taste, pour 2-3 cups of plain water over the chenna and let it drain completely.

Tie the chenna in the cloth and gently squeeze out excess water. Hang it for 30 minutes to let any remaining water drain out. Do not hang for more than 30 to 45 minutes.

Open the cloth and transfer the chenna to a large plate.

The chenna should be slightly dry but still moist. If it's too dry, the rasgullas will be hard; if it's too soft, the rasgullas may break apart while cooking and won't hold their shape.

Knead the chenna with your hand until it comes together like smooth dough. Stop kneading when your palm feels a bit greasy (the chenna will start releasing some fat).

Divide the kneaded chenna into 13-15 small balls. Don't make them too large, as they will double in size when cooked in the syrup.

In a large, wide-mouthed pot with a lid (or a pressure cooker), combine 1 1/2 cups sugar, 4 cups water, and cardamom pods. Heat over medium heat to make the syrup.

When the syrup comes to a boil, gently add the chenna balls.

Cover the pot with a lid and cook over medium heat. If using a pressure cooker, just place the lid on top without sealing it.

After 5 minutes, remove the lid and gently stir with a spoon. Cover again and boil for another 7-8 minutes over medium heat. Remove the lid and turn off the heat. You'll see the balls have almost doubled in size.

After turning off the heat, the balls may shrink slightly, which is normal. (If they shrink a lot, something may have gone wrong.) Transfer the rasgullas to a large bowl and let them cool for 5-6 hours. Rasgullas are now ready to serve.

Note:
For best results, use cow's milk. You can also use any brand of full-fat milk. We used full-fat milk in this recipe. Do not use store-bought paneer for this sweet.