This morning, I finally decided to take the time to make some yogurt again. It has been a while (a long while) since I last made yogurt, but I really love it, and it really doesn't take long at all. In fact, when I finished I wondered why I have not done it for so long.
Here is my method: I take ~4 cups of milk and boil them (when I am more vigilant, I try not to quite let it boil, but almost). Then I let the milk cool to 115 degree (F). At which point I pour it through a strainer into a pyrex pitcher. You don't have to strain it if you watch the milk and don't let it curdle, but I rarely watch it that closely. Then I mix in ~1/2 c. of powdered milk. I take about 1/2 c. of the strained mixture into another bowl that I whisk with the starter (this time I used a powdered starter, but most of the time I use 2-4 T of plain yogurt that I let come to room temperature). After the starter is completely dissolved, I add it back to the main mixture and stir some more. Then I pour it into little glass jars in my yogurt maker, put the lid on and wait 6 hours.
When I make it often, I already know the correct spot on my pan that is one quart and I use frozen plain yogurt starter, which is so easy, because my ice cube tray is exactly 1 T, so I just pop a couple of cubes into a bowl to thaw when I start boiling the milk. When I make it often, I also make flavored batches by adding a couple of spoonfuls of fruit and/or powdered sugar and/or brown sugar and/or maple syrup. But today, it is just plain, because that is how I like it best.