Vanilla Frozen Yogurt

Spoon yogurt into fine-mesh strainer set over glass measuring cup. Place measuring cup in refrigerator; let drain until yogurt releases 1/2 cup liquid, 1 to 2 hours.

Sprinkle gelatin over 1/4 cup of the milk in a small bowl; let stand, stirring frequently, until gelatin swells, about 10 minutes.

Meanwhile, heat remaining 1 1/2 cups milk, sugar, and vanilla bean in small saucepan, stirring occasionally to dissolve sugar. Remove pan from heat.

Add swelled gelatin to hot milk-sugar mixture, stirring until completely dissolved. Scrape seeds from softened vanilla bean into mixture, whisking seeds to evenly distribute; discard bean. Cool to room temperature, then mix with drained yogurt.

Refrigerate yogurt mixture until it cools to at least 40 degrees. Pour chilled gelatinous mixture into canister of ice cream machine; churn until frozen. (Can be served as soft frozen yogurt at this point, or can be stored in a sealed plastic container for 2 days before it becomes icy.)