Pour milk into clean Instant Pot liner.
Stir in your optional ingredient (sweetened condensed milk, creamer, etc.) if desired. Whisk well.
Whisk in 1-2 Tablespoons of yogurt.
Lock the lid on the Instant Pot and turn the valve to sealing, not venting.
Press the Yogurt button (for the ULTRA model: Medium or any temp in the 100°F-110°F range).
Set the incubation time for 8 hours. Increasing the incubation time (up to 24 hours) by pushing the + button will result in a more tangy yogurt.
The Instant Pot will beep, and then count up. When finished, the Instant Pot will beep and display YOGT.
Remove the Instant Pot liner, cover, and chill in the fridge for 4-6 hours.
Do not stir your yogurt until fully chilled or strained.
After chilling for 4-6 hours, stir 1 spoonful of yogurt into a bowl. It will thin out. If a thicker yogurt is desired, you will need to strain.
strain yogurt if desired.
Add vanilla extract and/or choice of sweetener if desired.
Store yogurt in the fridge for up to 2-3 weeks.