2 cups heavy cream
1 vanilla bean
1/2 cup sugar
1 1/2 teaspoons unflavored gelatin (about 1/2 packet)
1/2 cup whole milk
1/2 cup whole-milk Greek yogurt
Sliced strawberries and fresh mint, for garnish (optional)
Saba (Italian Balsamic Syrup) (Optional)
Place the cream in a saucepan. Halve the vanilla bean lengthwise; scrape out the seeds with a knife, then add the seeds and pod to the saucepan. Add the sugar and bring to a simmer over medium-low heat, stirring occasionally. Discard the vanilla pod.
Sprinkle the gelatin over the milk in a bowl and let stand until the gelatin softens, about 5 minutes. Stir the gelatin mixture into the hot cream mixture until dissolved, then stir in the yogurt. Divide among six to eight 4-ounce ramekins, cover with plastic wrap and refrigerate until set, at least 6 hours or overnight.
Dip each ramekin three-quarters of the way in warm water and invert onto a plate. Garnish each panna cotta with strawberries, mint, and a drizzle of Saba if desired.