Peel the dragon fruit and cut into peices. Grind into a paste without adding water. Set aside.
Soak the agar-agar into the water for 20 minutes. Keep on the flame on low heat till it melts. Do not boil.
Whisk the milk, condensed milk and dragon fruit pulp in a saucepan till smooth. Bring the mixture to heat.
Add in the melted agar-agar mixture and cook for a few more minutes till all is well combined.
Switch off and pour into 6 ramekins. Allow it to come to room temperature.
Keep in the refrigerator for another hour before serving cold.
Notes
1. Add sugar if necessary. The dessert is mildly sweet. 2. I served it with a strawberry on top. You could use whipped cream or any topping of your choice.