FOR PANNA COTTA:
SPRAY six custard cups with nonstick cooking spray.
SPRINKLE gelatin over 1/4 cup milk in small bowl; let stand for 2 to 3 minutes to soften gelatin slightly.
WHISK cream, remaining 1/2 cup milk and sugar in medium, heavy-duty saucepan; cook over medium-high heat, whisking constantly, until mixture just comes to a boil. Remove from heat and stir in vanilla extract. Whisk gelatin mixture into cream mixture until dissolved. Stir in morsels until melted.
POUR mixture into prepared custard cups. Cover; refrigerate for 3 to 4 hours.
FOR PISTACHIO SAUCE:
COMBINE melted ice cream and pistachios in small bowl. Cover; refrigerate until ready to serve.
TO UNMOLD, run a small knife around top rim of each ramekin, then dip 3/4 in hot water for about 30 to 40 seconds and pat dry. Place dessert plates over custard cups; invert and shake gently to loosen. (If panna cotta does not release, you may need to run small knife around top rim again. A darker layer on top of inverted panna cotta is okay!)
INVERT onto serving plates. Serve with Pistachio Sauce.
• This recipe can easily be doubled if more servings are needed (use 1 3/4 cups or 11.5-ounce package of NESTLÉ® TOLL HOUSE® Milk Chocolate Morsels).
• Fresh fruit (such as pitted, halved cherries, raspberries, sliced strawberries, chopped orange or grapefruit ) can be served along with the panna cotta instead of the sauce. Or, the fresh fruit could be stirred into the melted ice cream as another variation of a sauce!