There are recipes out there to make condensed milk from evaporated milk, splenda, and dry milk powder for those who really don't want any added sugar.
I'm not a fan of splenda when baking. The granulated stuff just tastes weird to me, we bought a bag years ago (at least six years ago, we moved with it) and I just finished it up last month because we ran out of sugar.
The blends were a bit better but still wasn't crazy about them.
If you are using a tablespoon or two they were fine, but when something called for replacing a cup of sugar, it was just too overpowering.
The granulated was too light to add the texture sugar added, and as you use half the amount of the blends as sugar in a recipe all the proportions of the recipe could be messed up and you would have to do trial and error to get it the right consistency.
Though a bakery a few miles away makes a sugar free cannoli pie that is wonderful, so not sure how they manage that, they won't say.