All of the plants had the long leafless sections to where the flower was. All the ones that set seed had a long stem before the pod and were twisted around like that.

See if Asclepias variegata fits.

I'm thinking Asclepias amplexicaulis.

Looks like Asclepias amplexicaulis to me as well.

Awesome! Thank you! I do believe it is Asclepias amplexicaulis. I'm hoping the seeds I collected germinate and will produce the purple or reddish flowered variety.

SunnyDayd2012 did your clasping milkweed germinate? Are they still growing?