Place milk in Instant Pot pan.
If making vanilla yogurt, add sugar to the milk before heating up.
Use the saute mode bring the milk temperature to 180F. Stir a few times.
Remove the pan from the Instant Pot, cool milk to 110F.
Add starter to the warm milk and stir well.
If you are making vanilla yogurt, add the vanilla.
Pour the warm, cultured milk into a quart jar.
Fill the Instant Pot pan ⅓ full with warm (100-110F) water.
Place jar into the Instant Pot.
Put Instant Pot lid on and select the yogurt mode.
Set timer for 8 hours. This not a pressurized cycle.
Chill yogurt completely in the refrigerator.