The innovation is Ambrosia's first since Hicks Muse Tate & Furst, Premier Foods' holding company, acquired the brand from Unilever Bestfoods in December 2003.
Premier is aiming the individual desserts at young consumers with busy lifestyles. It is also targeting parents looking to fill their children's lunchboxes.
The rice pudding pots go on sale this month in standard, low-fat, chocolate, banana and caramel variants. The custard pots will be sold in chocolate, strawberry, banana, toffee and vanilla.
With a £600,000 launch spend, the range will be supported by advertising from recently appointed agency Delaney Lund Knox Warren.
Ambrosia has not advertised since 2000, when its Splat product was promoted in sponsorship idents for ITV's now-defunct children's programme SM:tv.
Premier Foods is also launching Ambrosia Brandy Custard to eat alongside Christmas pudding.
Ambrosia's regular cans of custard and creamed rice will run an on-pack promotion until October, giving customers the chance to win a cottage in Devon.