Homemade yogurt is good

I recently bought a yogurt machine because Sadie downs the stuff. I thought it would be fun, cheaper and healthier to start making it from scratch. I ordered my machine online and made my first batch last week. I was more than happy with the results. It was so tasty that I served it to my family for dessert with berries on top. Here's the recipe I used if anyone is interested:

Vanilla Yogurt

Ingredients
4 cups milk (your choice whole-skim)
1/2 cup powdered dry milk
1 tablespoon vanilla extract
4-6 tablespoons sugar (or honey)
1/2 cup yogurt starter (unflavored plain yogurt with active cultures)

Directions

1. Set 1/2 yogurt starter out to warm to room temperature.
2. Heat the milk to almost a boil. (I microwaved it in a glass bowl for 5 minutes on high then 2 minutes on medium). Cool the milk to barely warm.
3. Add dry milk, vanilla and sweetener of your choice; stir well.
4. Stir in yogurt starter (do not whip but mix very well!).
5. "Cook" the yogurt using your preferred method and time. Longer makes a firmer, more tart yogurt. I cooked mine for 12 hours. Chill 4 hours before eating.