Place a small pan over medium heat. Add the coriander, peppercorns, cumin, and cloves and toast until fragrant, just for a few minutes to simmer.
Pour in the milk into a pot and add the spices, peppers, and garlic. Heat over medium-high heat, stirring occasionally to prevent scorching, and bring to a boil.
Once it boils, blend with an immersion blender until slightly pureed. Remove from the heat and let it lie for 20 to 30 minutes in order to set. Then Add your salt and pepper to taste.
Strain the milk, preferably through a chinois sieve for the finest texture. Return the milk to the pot and add the iota carrageenan and blend well with an immersion blender. Bring to a boil and blend for 30 to 60 seconds. Remove from the heat and pour into molds.
Let the mixture to cool at room temperature, or in an ice bath, then place in the refrigerator to finish setting.
Once fully set the gel can be turned out and cut into any shapes desired. The gel should last for several days while covered in the refrigerator.
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