Take the starter yogurt out of the refrigerator so that it has time to get closer to room temperature while you heat the milk.
Pour the milk into the removable cooking pot. Place the lid on the cooker, turn the pressure regulator knob to STEAM, and heat the milk to 180°F-185°F by using the first step of the YOGURT function (HEAT).
Once the milk reaches the proper temperature of 180°F-185°F, the unit beeps and goes to standby mode. Use a thermometer to make sure that the proper temperature has been reached. If needed, rerun the HEAT program again to get to the proper temperature.
Remove the removable cooking pot from heat using a kitchen towel or oven mitts and allow the milk to cool to anywhere between 100°F-110°F.
To accelerate the cooling down process, place the removable cooking pot in cold water. Do not let it cool below 90°F. Use a thermometer to make sure that the proper temperature has been reached.
Once the milk has reached the proper temperature, stir in the starter yogurt or starter culture packet and use a silicone whisk to mix it with the milk until the consistency is smooth with no lumps remaining.
Place the cooking pot back in the cooker and close the lid. Turn the pressure regulator knob to STEAM and use the second step of the YOGURT function to incubate your yogurt for 8 hours (YGRT).
Depending on the flavor of yogurt you like best, you can adjust how long to cook the yogurt. You can increase or decrease the time by a half-hour. The longest cooking time is 24 hours. With a longer cooking time, the yogurt will have a tarter flavor. With a shorter time, the yogurt will have a milder flavor.
Once the incubation process begins, the unit begins to count down in 1-minute increments.
When the cooking time ends, the unit will beep to let you know that the function is over, and it will switch back to standby mode.
Remove the lid; there may be some yellowish liquid on top of the yogurt. This is whey, a watery part of milk that remains after curds form, mix it back into the yogurt.
Place a strainer or a cheesecloth inside a container, making sure it doesn't touch the bottom of the container to allow for better drainage.
Pour the homemade yogurt into the strainer or cheesecloth and cover. Put it in the refrigerator to strain and chill for at least 2 hours. The longer the time, the thicker the yogurt becomes.
Gently remove yogurt from the strainer or cheesecloth by turning the strainer or cheesecloth upside down on a container.
Put it back in the refrigerator to chill for another few hours before serving.