Soak the gelatin in a bowl of cold water for 10 minutes.

In a large saucepan, gently warm the milk with the seeds from the vanilla bean. Do not let it boil. Stir in the sugar until dissolved, then add the soaked and squeezed gelatin. Continue stirring until everything is well combined.

Turn off the heat and let the mixture cool for about 15 minutes. This step is important—if you add the yogurt while the mixture is still hot, the liquid in the yogurt will separate and rise to the top, ruining the texture.

After cooling, add the yogurt (previously stirred to make it smooth). Mix well to combine all the ingredients.

Pour the mixture through a fine mesh strainer into your molds to make it extra smooth. Refrigerate for about four hours until set. Decorate as you like—with chocolate sauce and chopped hazelnuts, berry jam thinned with a few drops of water, caramel sauce, or your favorite topping.