This is my recipe, and I heat the milk in the microwave until it's just about to boil, then all all ingredients to the yogurt maker and stir thoroughly. I then set the yogurt maker for 4 hours. Once the 4 hours is up, I always end up with loads of whey, which, if left in the yogurt, will make the yogurt stringy if you just mix it all in. I always strain the yogurt through a coffee filter to remove the whey, then pour into a bowl, cover and refrigerate over night. I always end up with really thick, creamy yogurt that is delicious. You can leave the yogurt for longer than 4 hours - up to 12 hours (4 is the minimum though)but I have never noticed a difference in taste for leaving it longer. Therefore to save time (and electricity!) I generally only leave my yogurt maker on for 4 hours.
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This is my recipe, and I heat the milk in the microwave until it's just about to boil, then...