Bring milk to a boil, then cool to lukewarm.
Make a paste with the yogurt and a little lukewarm milk.
Soften gelatin in some of the lukewarm milk and warm it over low heat to dissolve gelatin.
Add honey, vanilla, then stir in remaining milk and then (when mixture is cooled to lukewarm) stir in yogurt paste.
Place in a yogurt maker or use your preferred method for making yogurt.