1Place 2 tablespoons cold water in a small bowl and slowly sprinkle gelatin over water. Stand for 10 minutes to allow gelatin to soften.
2Meanwhile, place milk, sugar and vanilla essence in a small saucepan. Cook over a low heat, stirring to dissolve sugar, until mixture just starts to simmer. Remove from heat and add gelatin mixture. Whisk until gelatin dissolves. Set aside to cool for 10 minutes.
3Whisk yoghurt into gelatin mixture until well combined. Divide mixture among glasses. Cover then refrigerate for at least 2 hours to set.