Any NLE and Photoshop and you're done!
Take the frame you want to stop action in, export to PS as a still, make two layers, with your image on the top layer, and nothing at all on the bottom layer. Erase everything except the section you want to freeze.
Import back into your NLE, place on top of you action screen and set a composite mode to it, or key it, as needed. Simple as that.
Notice when he moves his hand in the milk shot, his hand does not actually go through the milk. He's moving fast enough to look like it, but freeze it, you'll see he's never coming in front of the milk.
Very simple, very easy, not a big deal, but look really nice when done well. You could go to something like Shake and get a much more polished, professional result. But any old NLE and Photoshop, and you're fine.