Molded Puddings?

I have some really cute plastic pudding mold/cups (kind of like these: but I don't know how to make the kind of pudding that would mold like that. Does anyone know? I keep seeing recipes that look tasty but require baking or steaming. My little plastic cups wouldn't stand a chance in a steamer! I made agar-agar jelly in them and it was cool, but it was mega-hard to un-mold and my (suddenly uncharacteristically picky) kid won't eat it :-( Thanks! :D