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Pour milk into Instant Pot and make sure valve is sealed. Press "yogurt" button until it reads "boil." It takes about 30-45 minutes for milk to come to correct temperature, 180ºF (82ºC). Once it's reached 180ºF, the Instant Pot will start beeping. After boiling is completely I usually double check the temperature with a thermometer. If it hasn't reached 180ºF yet, turn on SAUTE to heat and stir until it reaches the correct temperature.
Remove the lid and carefully remove insert. Set insert with milk on the counter for about 45 minutes to come to 110-115ºF (43ºC-46ºC), stirring occasionally. Alternatively, set insert in an ice bath and stir for 5 minutes, or until milk reaches 115ºF.
Whisk yogurt starter into the 115ºF milk. Place insert back into Instant Pot and press "yogurt" button again until time reads 08:The Instant Pot will then change to 0:00 and count up until it reaches 8 hours.
Line a colander with one layer of cheesecloth and set over a bowl to catch the whey. Pour yogurt into the lined strainer. Place everything in the refrigerator to continue to strain for 2-3 hours for regular yogurt and 4-5 hours for "Greek" style.
TIP: If you accidentally left the yogurt straining too long and it becomes thicker than desired, simply stir some of the liquid whey drained out or additional milk back into the yogurt.
TIP: To have a yogurt starter ready for the next batch, reserve 2 tablespoons of yogurt after straining. Freeze start in a small ziplock bag and thaw overnight in the refrigerator.
Store yogurt in a glass jars or airtight plastic containers. Makes 1 quart (32 ounces). Yogurt will last 10-14 days in refrigerator. Each serving is 1/2 cup.