In a small bowl, make the slurry by combining cornstarch and ¼ cup milk. Set aside.
In a saucepan, add sugar and powdered milk and whisk to combine. Slowly add the whole milk while continuously stirring to dissolve the sugar and powdered milk.
Heat the mixture over medium heat until it starts to simmer. Pour in the slurry while constantly stirring to prevent lumps. Cook until it starts to thickens but should still be easy to pour, like that of melted ice cream.
Remove from heat and add vanilla extract and mix. Let it cool down a bit then pour the mixture into ice drop molds. Cover each mold with aluminum foil and make a small slit on top to easily insert an ice cream stick.
Freeze for at least 4 hours or overnight.
To make the chocolate magic shell, just combine all the ingredients and mix until smooth. Transfer mixture to a tall, narrow glass.
Once fully frozen, take an ice drop and dip the mold in lukewarm water to loosen the ice cream from the mold so it is easier to remove.
Place the pinipig on a plate and lay the vanilla ice cream flat on top to coat, then turn and do the same on the other side.
Dip a vanilla ice drop coated in pinipig into the chocolate mixture until fully submerged and lift. Dip it twice or thrice for a thicker coating. Hold it up for some seconds and let the shell harden. You can also sprinkle some more pinipig while the chocolate has not fully harden yet.
Serve imediately or wrap in foil or plastic and freeze again to enjoy later on.