If you have kept khoya in refrigerator bring it to room temperature and in a wide tray crumble it well. Add sugar and mix together with your fingers.
Take this mixture of khoya and sugar in a cooking pan. With constant stirring cook it in medium flame. It dissolves and becomes thin, liquid consistency. Continue cooking.
As you cook further for few more minutes, the color changes to darker shade. And you can form ball out of it. Transfer this over a plate and let it cool down. If it is more hard to shape, then add milk.
Combine milk well and take a lemon sized peda mix in your hand. Give it shape like a ball.
Flatten it like peda and using any lid, give uniform shape. You can even use a fork to make some lines over the peda that looks good texturewise.
Continue this process till you are done with all. Very easy khoya peda is ready in 30 minutes.