Milk Chocolate Yogurt Pots from new cookbook Yogurt Culture

Author Cheryl Sternman Rule’s recipe note:  On a visit to 31st Union, a bustling restaurant in San Mateo, California, my family and I ended our meal in the best way possible: with a rich chocolate panna cotta dusted with salty, spicy peanuts. In my version, I’ve omitted the spice and turned to yogurt instead of gelatin for body to create a lighter, more mousse-like dessert.