Combine the Nutella, whole milk, granulated sugar, and vanilla extract in a medium-sized saucepan.
Gently heat the mixture over low heat, stirring continuously until the Nutella fully dissolves, resulting in a smooth mixture. Be cautious not to bring it to a boil.
Once the mixture achieves a smooth consistency, remove it from the heat and allow it to cool down to room temperature.
After the mixture has cooled, pour it into popsicle moulds.
Insert popsicle sticks into the moulds, ensuring they remain upright.
Position the moulds in the freezer and allow the popsicles to freeze for at least 4 hours, or until they solidify completely.
To easily remove the popsicles from the moulds, briefly rinse them under warm water for a few seconds to loosen them.
Enjoy your delectable Nutella Popsicles!