4 cups milk (your choice whole-skim)
1/2 cup powdered dry milk
1 tablespoon vanilla extract
4 -6 tablespoons sugar (Splenda or honey) = 1/2 cup
1/2 cup yogurt starter (unflavored plain yogurt with active cultures)
Directions:

1
Set 1/2 yogurt starter out to warm to room temperature.
2
Heat the milk to almost a boil.(I like to microwave in a glass bowl for 5 minutes on high then 2 minutes on medium). About 180 degrees.   Cool the milk-about 110 degrees- (to a “barely warm”/ babies bath temperature) (cool water bath works well). Add dry milk, vanilla and sweetener of your choice; stir well.
3
Stir in yogurt starter (do not whip but mix very well!).
4
“Cook” the yogurt using your preferred method and time (longer makes a firmer, more tart yogurt. I like to cook about 12 hours). Chill 4 hours before eating.

Read more at: http://www.food.com/recipe/vanilla-yogurt-homemade-58661?layout=desktop&oc=linkback