Method:

Add a quarter cup of water to a small bowl and add the gelatine, stirring to dissolve and bloom for about 5 minutes, in the meantime heat the cream over a medium heat with the vanilla and sugar, dissolving the sugar and bringing to a simmer.
Turn off the heat and add the gelatine along with the yoghurt. Stir to combine before adding to a jug or beaker with a spout. Whisk any remaining lumps off yoghurt into the mixture before pouring into large espresso sized cups or ramekins. You could also pour the mixture into a large serving dish and serve it that way.
Place the espresso cups in the fridge to set for 6 hours or overnight.
For the yoghurt cream topping, whip your cream with the vanilla until stiff peaks form. Add your yoghurt and whip into the cream for about 15 seconds or until well combined.
Spoon the yoghurt, cream mixture over the Panna Cotta, if you’re serving these in coffee or espresso style cups the dessert should resemble a lemony version of a cappuccino.
Finish with a zesting of lemon and serve.