1. Sprinkle gelatin over 2 tablespoons of milk in small bowl; let soften 5 minutes.
  2.  Place remaining 2 cups milk, sugar, and vanilla in a saucepan. Bring mixture to simmer; remove pan from heat.
  3. Add gelatin mixture to saucepan and stir until dissolved.
  4. Place yogurt in medium bowl; whisk until smooth.
  5. Gradually whisk milk mixture and lemon zest into yogurt.
  6. Pour mixture into eight 4-oz ramekins. Chill until set, about 4 hours.
  7. Toss fruit together and refrigerate until needed.
  8. To remove from ramekins, run sharp knife around edges; invert onto plate. Top with fruit and serve.
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