In a thick and wide based pot, boil milk and cardamom together for 20 minutes on medium low heat. Cook pre soaked rice in another pot.When rice are cooked, cover and cook more on low heat for 5-7 minutes. So rice are very soft. Add sugar to milk, stir and add rice. Mix well. By stirring constantly the rice will break into small pieces and mix in milk, but if you like smooth kheer then blend it with 1-2 pulse only. Cook more on low heat for 20 until kheer is thick. Then add milk powder. Stir well and cook until thick for 5-10 minutes.