Mash the silken tofu in a bowl using a whisk until smooth. Gradually add milk and mix until creamy.

In a separate bowl, combine powdered gelatin and water to let it bloom.

In a saucepan, combine the tofu mixture, sugar, and black sesame paste. Heat over low heat until it starts to simmer, then remove from heat.

Add the bloomed gelatin to the saucepan and stir until completely dissolved. Transfer the mixture to a bowl.

Place the bowl in a larger bowl filled with ice water. Stir the mixture while cooling to thicken slightly.