Make sure the Instant Pot insert, lid, and whisk or spatula are very clean. Rinse with very hot water and dry well to avoid any residue that could interfere with fermentation.
Pour the gallon of whole milk into the Instant Pot inner pot. If using sugar or honey, whisk it in now. Secure the lid. The steam release setting does not matter for the yogurt function.
1 gallon whole milk, 2-4 tablespoons sugar or honey
Press the “Yogurt” button until the display shows “Boil” or “More” (depending on your model). Let the cycle run until the Instant Pot beeps, heating the milk to around 180°F (82°C). This usually takes 30–45 minutes.
Carefully remove the lid. Gently stir the milk with a clean whisk and check the temperature with an instant-read thermometer. It should be 180°F–185°F (82°C–85°C). If it is not hot enough, use the Sauté function on Low, whisking frequently, until the milk reaches this range.
Turn off the Instant Pot and remove the inner pot to a trivet or folded dish towel. Let the milk cool to 105°F–115°F (40°C–46°C), stirring occasionally to prevent a skin from forming (or skim off the skin if desired). This can take 30–45 minutes at room temperature. To speed up cooling, set the pot in a cold water bath in the sink, being careful not to splash water into the milk.
Place 2–3 tablespoons of plain yogurt with live active cultures in a small bowl. Ladle about 1 cup of the warm (110°F) milk into the bowl and whisk until completely smooth. This gently warms the starter so the cultures are not shocked.
2-3 tablespoons plain yogurt with live active cultures
Pour the tempered yogurt mixture back into the main pot of warm milk. Whisk gently until evenly combined.
1 gallon whole milk, 2-3 tablespoons plain yogurt with live active cultures
Place the inner pot back into the Instant Pot base and secure the lid. Press the “Yogurt” button again and set the time for 8–12 hours. Incubate 7–8 hours for a milder, less tangy yogurt, or 10–12 hours for a tangier flavor. The Instant Pot will keep the temperature around 110°F (43°C) during fermentation.
When the incubation time is complete, open the lid and gently jiggle the pot without stirring. The yogurt should look set like a soft custard with some clear whey around the edges. If it still appears very liquid, run the yogurt cycle for an additional 1–2 hours.
Cover the inner pot with the Instant Pot lid or plastic wrap and transfer it to the refrigerator. Chill for at least 4 hours, or preferably overnight, to thicken and develop the flavor. Do not stir until after chilling.
For thicker Greek-style yogurt, line a colander with cheesecloth, a nut milk bag, or coffee filters and set it over a large bowl. Gently spoon the chilled yogurt into the lined colander and refrigerate to strain for 1–4 hours, depending on how thick you want it. Reserve the strained liquid (whey) for smoothies, baking, or pancakes if desired.
Cheesecloth, nut milk bag, or coffee filters
Transfer the yogurt (strained or unstrained) to a large bowl and whisk gently until smooth. Stir in vanilla extract and additional sweetener if desired. Portion into jars or containers, label with the date, and refrigerate for up to 7–10 days.
2-4 tablespoons sugar or honey, 1-2 teaspoons vanilla extract