Combine 4 cups (950ml) of milk and 3/4 cups (120g) of powdered milk (if not using whole milk) in the saucepan. Set the burner to medium heat and place the saucepan on the burner.
Whisk the mixture constantly to keep it from sticking to the pan. Gradually heat the milk to 180 to 190 degrees Fahrenheit (82 to 87 degrees Celsius). Determine the temperature by inserting the instant read thermometer in the milk periodically. When the milk has reached the desired temperature, remove the saucepan from the stove and allow the milk to cool down to 115 to 120 degrees Fahrenheit (46 to 48 degrees Celsius). Once the milk cools, continue to the next step.
Spoon 2 tbs. (48g) of the plain yogurt into a small bowl and add 2 tbs. (30ml) of the heated milk. Whisk together until the mixture is smooth.
Add the mixture to the remainder of warm milk and stir constantly for approximately 2 minutes.
Pour the contents of the saucepan into a storage container and cover.
Place the container in the cooler and cover (or wrap the container in the kitchen towels). Let sit for 4 to 6 hours until the yogurt sets.
Refrigerate the yogurt. The yogurt will be ready for consumption when it has completely chilled.
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