Take milk in a sauce pan, add sugar and condensed milk.
Add vanilla essence.Mix well.Keep your moulds ready.
Grease it slightly with oil,set aside and keep it ready.Now add milk mixture to agar agar mixture.
Whisk well for even mixing.Now pour into desired moulds and keep undisturbed for it to set well.If you want the dessert chilled then refrigerate for few mins.
Notes
Agar Agar sets beautifully in room temperature itself.But if you want you can refrigerate it.
Be quick after agar agar mixture is poured,whisk it well then immediately pour to set.