Add red beans into a medium-sized bowl and add water to cover, at least by 1 inch. Soak until the beans are rehydrated (3 hours at a minimum, up to overnight).

Drain soaked red beans and transfer to a medium-sized pot. Add cold water to cover by 2 inches. Cook over medium high heat until brought to a simmer. Immediately turn to low heat. Simmer covered until the red beans turn tender without breaking apart, about 50 minutes (*Footnote 1). Rinse the red beans with tap water to cool and drain.

(Optional) Separate and save 1/4 cup whole red beans to add into the Popsicles for texture, if desired.

Combine the cooked red beans and milk in a blender (I used a Vitamix). Start at low speed and increase to high, blending for 30 seconds if you like a texture with tiny pieces of crushed beans, and 1 minute for a smoother texture.

Add condensed milk. Start at low speed and increase to medium, blending for 5 seconds, until the condensed milk is just incorporated.

Transfer the mixture into Popsicle molds and place them in the freezer for 30 minutes, until the mixture thickens. Meanwhile, soak the Popsicle sticks in water. (*Footnote 2)

Insert the Popsicle sticks, keeping them as straight as possible. Return the Popsicle molds to the freezer for another 4 to 5 hours, until the Popsicles have solidified.

To remove a Popsicle, run the mold under warm water for 3 to 5 seconds, and then gently pull the Popsicle out and enjoy!