Place milk, cream and vanilla seeds and pod (or extract) in a small pot and bring to the simmer.
Combine the gelatine and water and allow to sponge for five minutes.
Take cream mixture off the heat and fish out the pod if you used it.
Whisk in the icing sugar.
Add sponged gelatine mixture, rind, juice and whisk well to combine.
Whisk in the yoghurt.
Pour into four small cups, bowls or ramekins sprayed with non-stick spray and chill for four hours until firm.
Meanwhile, reserve some raspberries for decoration and puree the rest of the berries with the castor sugar.
Bring the puree to the boil and simmer for 10 minutes, skimming any foam off.
When deeply red and glossy, remove from the heat, cool and place in the fridge to chill until required.
To serve, unmould the panna cottas and serve with the puree and whole berries.
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