If you love soft custard cakes, creamy cheesecakes, gooey dessert bars, and bakery-style sweet treats, this collection is for you. These condensed milk desserts are rich, comforting, and incredibly easy to make at home using simple ingredients.
From pull-apart custard breads to silky cheesecakes and molten caramel desserts, every recipe in this collection delivers soft textures and indulgent flavor that dessert lovers can’t resist.
1. Soft Pull-Apart Condensed Milk Custard Cake
This fluffy pull-apart bread is filled with creamy custard and brushed with condensed milk for an extra soft finish.
Ingredients
Dough
3 cups all-purpose flour
2 ¼ tsp instant yeast
¼ cup sugar
½ tsp salt
1 egg
¾ cup warm milk
¼ cup butter, melted
Custard Filling
2 cups milk
½ cup sweetened condensed milk
3 egg yolks
3 tbsp cornstarch
1 tsp vanilla extract
Instructions
Mix flour, yeast, sugar, and salt in a bowl.
Add egg, warm milk, and butter. Knead until smooth and elastic. Let rise for 1 hour.
For the custard, whisk egg yolks, cornstarch, condensed milk, and milk in a saucepan. Cook over medium heat until thickened. Stir in vanilla and cool.
Divide dough into balls, flatten slightly, and fill with custard. Arrange in a greased pan.
Let rise another 30 minutes.
Bake at 350°F (175°C) for 25–30 minutes until golden brown.
Brush with extra condensed milk before serving.
2. Gooey Vanilla Custard Cream Cake
A rich vanilla dessert with a soft crust and gooey cream cheese center.
Ingredients
1 box vanilla cake mix
3 eggs
½ cup butter, melted
8 oz cream cheese
1 can sweetened condensed milk
2 tsp vanilla extract
2 cups powdered sugar
Instructions
Preheat oven to 350°F (175°C).
Combine cake mix, 1 egg, and melted butter. Press mixture into a baking pan.
Beat cream cheese until smooth. Add remaining eggs, condensed milk, vanilla, and powdered sugar.
Pour over crust.
Bake for 35–40 minutes until center remains slightly gooey.
Cool before slicing.
3. Grandma’s Creamy Condensed Milk Cheesecake
A classic creamy cheesecake with a rich old-fashioned texture.
Ingredients
2 cups graham cracker crumbs
½ cup melted butter
16 oz cream cheese
1 can sweetened condensed milk
3 eggs
1 tbsp lemon juice
1 tsp vanilla extract
Instructions
Mix graham crumbs and butter, then press into a springform pan.
Beat cream cheese until fluffy.
Add condensed milk, eggs, lemon juice, and vanilla.
Pour into crust.
Bake at 325°F (160°C) for 50 minutes.
Cool completely and chill at least 4 hours before serving.
4. Melt-in-Your-Mouth Caramel Custard Bars
These soft caramel bars have a buttery crust and creamy custard filling.
Ingredients
1 cup flour
½ cup butter
¼ cup brown sugar
1 can sweetened condensed milk
½ cup caramel sauce
2 eggs
1 tsp vanilla
Instructions
Mix flour, butter, and brown sugar into crumbs.
Press into a pan and bake at 350°F (175°C) for 12 minutes.
Whisk condensed milk, caramel sauce, eggs, and vanilla.
Pour over crust.
Bake another 20–25 minutes until set.
Cool fully before slicing into bars.
5. No-Bake Condensed Milk Dream Cheesecake
An easy no-bake cheesecake that’s light, creamy, and refreshing.
Ingredients
2 cups crushed cookies
½ cup melted butter
16 oz cream cheese
1 can sweetened condensed milk
¼ cup lemon juice
1 tsp vanilla
Whipped cream for topping
Instructions
Combine crushed cookies and butter, then press into a pie dish. Chill.
Beat cream cheese until smooth.
Add condensed milk, lemon juice, and vanilla.
Pour into crust.
Refrigerate at least 6 hours or overnight.
Top with whipped cream before serving.
6. Warm Pull-Apart Vanilla Custard Cake
Soft layers of sweet bread filled with silky vanilla custard.
Ingredients
Dough
3 cups bread flour
2 tsp yeast
¼ cup sugar
¾ cup warm milk
¼ cup butter
1 egg
Custard
2 cups milk
½ cup sugar
3 egg yolks
3 tbsp cornstarch
1 tsp vanilla
Instructions
Prepare dough by mixing all dough ingredients and kneading until smooth.
Let rise until doubled in size.
Cook custard ingredients over medium heat until thickened. Cool completely.
Roll dough into pieces and layer with custard.
Arrange in baking dish and let rise again.
Bake at 350°F (175°C) for 30 minutes.
Serve warm.
7. Silky Baked Condensed Milk Cheesecake
A simple baked cheesecake with an ultra-smooth texture.
Ingredients
16 oz cream cheese
1 can sweetened condensed milk
3 eggs
1 tsp vanilla
1 tbsp lemon juice
1 prepared graham crust
Instructions
Beat cream cheese until creamy.
Add condensed milk, eggs, vanilla, and lemon juice.
Pour into crust.
Bake at 300°F (150°C) for 50–55 minutes.
Turn oven off and cool cheesecake inside with the door slightly cracked.
Chill before serving.
8. Creamy Stuffed Pancake Cheesecake Rolls
Thin pancakes rolled with sweet cheesecake filling.
Ingredients
Pancakes
1 cup flour
1 egg
1 cup milk
1 tbsp sugar
Filling
8 oz cream cheese
¼ cup sweetened condensed milk
1 tsp vanilla
Instructions
Whisk pancake ingredients into a smooth batter.
Cook thin pancakes in a skillet.
Beat cream cheese, condensed milk, and vanilla together.
Spread filling onto pancakes and roll tightly.
Chill or serve warm sliced into pieces.
9. Molten Caramel Condensed Milk Dessert
A layered caramel dessert that can be served warm or chilled.
Ingredients
1 can sweetened condensed milk
1 cup caramel sauce
1 cup heavy cream
½ tsp sea salt
1 cup crushed biscuits
Instructions
Layer crushed biscuits into dessert cups.
Heat condensed milk and caramel sauce together until smooth.
Stir in sea salt.
Whip cream until soft peaks form.
Layer caramel mixture and whipped cream over biscuits.
Serve warm or chilled.
10. Old-Fashioned Custard Cream Cake
A nostalgic layered cake filled with homemade custard cream.
Ingredients
Cake
2 cups flour
1 cup sugar
½ cup butter
2 eggs
1 cup milk
2 tsp baking powder
Custard Cream
2 cups milk
½ cup sugar
3 egg yolks
3 tbsp cornstarch
1 tsp vanilla
Instructions
Cream butter and sugar until fluffy.
Add eggs one at a time.
Mix in dry ingredients alternately with milk.
Bake at 350°F (175°C) for 30 minutes.
Prepare custard by cooking all custard ingredients over medium heat until thick.
Slice cooled cake in half and spread custard between layers.
Dust with powdered sugar before serving.
Final Thoughts
These condensed milk desserts are creamy, comforting, and perfect for anyone who loves soft textures and rich flavors. Whether you’re making a chilled cheesecake, gooey custard bars, or fluffy pull-apart bread, every recipe in this collection delivers bakery-style results at home.
Perfect for holidays, family gatherings, or weekend baking, these desserts are guaranteed to become favorites in your kitchen.