Try real nectar. You know, the kind that bees spit out. Honey is far better for you than any artificial sweetener.
That being said, honey can still over-stimulate your insulin response, so if you're looking to optimize for insulin sensitivity using Paleo, you might be better off weening yourself into fruits. If it's safe for me to assume that your addiction to Splenda and milk are sides to an addiction to coffee, then try eating some berries with your coffee. It'll give you a hit of sweetness without the guilt. Maybe try some pomegranates or blackberries?
Over time, after you've switched over from artificial sugars (and real sugars), you'll probably find that you no longer crave them. I used to have quite a sweet tooth, but nowadays I don't break a sweat when walking past an open box of donuts.