Place gelatin in a small bowl and add in a tablespoon or two of cold water. Stir to mix. Set aside for a few minutes.
Heat the milk in a small saucepan and add in the sugar. Once the sugar has dissolved, then add in the gelatin. Whisk until it dissolves. Take off the heat.
Pour the mixture into a deep bowl and add in the black sesame paste. Whisk to combine. Place this bowl carefully into a larger bowl filled with ice water. Continue whisking to help it cool down quickly. Then whisk in the heavy cream. Once cooled, pour into small glass bowls or other decorative glassware. Place in the refrigerator for at least an hour or more until the pudding has firmed up completely.
Garnish with sweetened whipped cream and toasted black sesame seeds.