How to make "white" jello using aloe vera jelly pack for broken dessert

I've heard that it is possible to make the base of broken glass jello with aloe vera jello and milk/cream/vanilla ice cream. I attempted to do it but at first I brought milk to simmer then one pocket of aloe vera jelly but it got a lumpy mixture! At my second attempt, I did what I usually do with a packet of jelly and mixed together the jelly and boiling water until the jelly has dissolved and the mixture is smooth, let it cool. Then I poured milk to have the white color but the same thing happened. I wonder how should one add milk/melted vanilla ice cream/cream to a jelly mixture to prevent curdling?

I wouldn't use unflavored gelatin, that's why I would use aloe vera jelly.