Process the sweetened condensed milk, avocado, lime zest and juice in a food processor, scraping the sides as needed, until completely smooth, 4 to 5 minutes. Divide the mixture among four 5-ounce ramekins and smooth the tops so they are flat. Refrigerate until cold and set, about 1 hour.
Sprinkle each ramekin with 1 teaspoon sugar. Melt the sugar with a handheld kitchen torch until golden and caramelized. Allow the sugar to cool and harden, 3 to 4 minutes.
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