Boil the milk in a heavy-bottomed pan on medium-high heat. Stir occasionally to prevent burning at the bottom.
Once the milk comes to a full boil, reduce heat to low. Add lemon juice mixed with 2 tablespoons of water, one tablespoon at a time, stirring gently until the milk curdles completely and the whey separates. The whey will be yellowish-green and clear.
Turn off the heat immediately. Do not over-boil after curdling or the chenna will become hard.
Line a strainer with a clean muslin cloth or thin cotton cloth. Pour the curdled milk through it to separate the chenna from the whey.
Rinse the chenna under cold running water for 30 seconds to remove the lemony smell and cool it down.
Gather the cloth and squeeze out excess water gently. Do not squeeze too hard. Hang the cloth for 15 to 20 minutes to let the remaining whey drip out. The chenna should be moist but not dripping wet.
Kneading and Shaping
Transfer the chenna to a clean plate or flat surface. Knead it gently with your palm for 4 to 5 minutes until it becomes smooth, slightly greasy, and holds together without cracks. If you see cracks, knead a bit more.
Divide the chenna into 12 equal portions. Roll each portion between your palms into a smooth, crack-free ball. Make sure there are no cracks on the surface as they will break during cooking
Making Sugar Syrup and Cooking
In a wide, heavy-bottomed pan or kadhai, combine 2 cups sugar and 5 cups water. Bring to a boil over high heat, stirring until the sugar dissolves completely.
Add the crushed cardamom pods if using. Keep the syrup at a rolling boil.
Gently slide the chenna balls into the boiling syrup, one at a time. They should have enough space to move around as they will double in size.
Cover the pan with a lid and cook on high heat for 15 minutes. The rasgullas will puff up and float to the surface. Do not open the lid frequently, just check once or twice.
After 15 minutes, reduce heat to medium and cook for another 5 minutes with the lid on.
Turn off the heat and let the rasgullas cool down completely in the syrup. They will firm up as they cool and absorb more syrup.
Once cooled, add a few drops of rose water to the syrup if desired. Refrigerate for at least 2 hours before serving for best taste and texture.
Notes
Equipment needed - Heavy-bottomed pan or kadhai, muslin cloth or thin cotton cloth, wide strainer.Make-ahead tip - Rasgullas stay fresh in the refrigerator for up to 4 days in their syrup. The flavor actually improves after a day.Chenna moisture - Getting the right moisture level in chenna is critical. Too dry and the balls will crack, too wet and they will disintegrate. Aim for playdough-like consistency.Syrup consistency - You do not need to reach any specific syrup consistency. Just dissolve the sugar in water and bring to a boil.Freezing - You can freeze rasgullas in their syrup for up to a month. Thaw in the refrigerator overnight before serving.Milk quality matters - Always use fresh, full-fat milk. Toned or double-toned milk will not give you the same soft texture.Testing doneness - Drop a small piece of chenna in the boiling syrup first. If it holds shape and puffs up, your chenna is ready. If it breaks, knead a bit more.