1. Place the cream in a saucepan. Add the vanilla and sugar and bring to a simmer over medium-low heat, stirring occasionally. Do not boil.

2. Sprinkle the gelatin over the milk in a bowl and let stand until the gelatin softens, about 5 minutes. Stir the gelatin mixture into the hot cream mixture until dissolved, then stir in the yogurt.

3. Divide among six dessert cups, cover with plastic wrap and refrigerate until set, at least 6 hours or overnight.

4. For the raspberry coulis, place raspberries in a pan with water, apricot preserves, and sugar. Stir and break up fruit. Bring to a boil. Strain through a fine sieve using spatula to push through. Discard seeds. Spoon over panna cotta and refrigerate.