My directions for yogurt are here. In this case, I only used half a litre of milk, therefore about 1/4 cup milk powder. For flavoring, I used half a vanilla bean, sliced lengthwise and seeds scraped out; I added the seeds and pods to the milk while it was heating, left them in while cooling, and only strained out the pods at the end. I added about 1 1/2 tablespoons sugar to the hot milk, put 1 tablespoon prepared yogurt in a clean jar, added the 110º milk to it, stirred thoroughly, and set in my waiting incubator. I think my old directions don't convey how extremely easy this is, nor how forgiving a process: twice lately I have forgotten that my milk is cooling, come back to find it at 95º or so, re-heated it to 110º, and finished up the job. It comes out just fine, as long as the temperature is right when you add the starter, and you keep the whole thing warm for a few hours.
I have to admit, the kids were not really crazy about vanilla specks floating on the surface. Nora thought is was pepper and insisted on plain yogurt in her bowl. Cole's not a huge fan of the plain, but I'm sure once the top layer of the vanilla, where the specks reside, is gone, he would be won over by the sweeter version. I thought is was wonderful with some fresh mango sliced over the top.