Soak apricots in 2 cups apricot juice for 15 minutes. Pour remaining 2 cups juice in heavy-bottomed medium saucepan. Stir in agar flakes and allow to sit for 10 minutes.
Meanwhile, in large skillet, combine apricots with soaking juice, cinnamon, allspice, nutmeg, and cloves. Bring to a simmer over medium heat and cook, stirring often, 15 minutes. Remove from heat.
Bring agar mixture to slow simmer over low heat and simmer until flakes are dissolved. Add soy milk, stirring often to prevent it from burning.
In a small bowl, dissolve kudzu in 1/4 cup water. When the kudzu is completely dissolved, whisk it into soy milk mixture. Add maple syrup and vanilla extract.
In food processor, process apricots until smooth. Add to soy mixture and cook, stirring occasionally, 10 minutes. Transfer pudding to a shallow casserole, bring to room temperature, then refrigerate until set, about 1 hour.
When ready to serve, process mixture in a food processor until smooth. Serve in parfait glasses with a dollop of tofu cream (see recipe below) if desired.