How to Make It
Heat milk in a medium saucepan over moderate heat to 140°F, about 5 minutes. Sprinkle gelatin over milk and whisk until gelatin is dissolved. Add heavy cream and sugar; cook, stirring occasionally, until sugar dissolves and temperature reaches 160°F, about 5 minutes.
Divide the panna cotta mixture evenly among 4 (12-ounce) heatproof glasses. Press plastic wrap directly on surface of each panna cotta. Cool to room temperature, and then refrigerate 8 hours or overnight.
To serve, remove and discard plastic wrap. Top each panna cotta with kiwi and pineapple; drizzle with sweetened condensed milk.