The following recipe comes from Vanessa Barrington's book, D.I.Y. Delicious (Chronicle Books, 2010).
It’s very easy to make yogurt without a yogurt maker. For equipment, you’ll need a two-quart saucepan, a candy or dairy thermometer (optional but helpful), a one-quart mason jar, and a whisk that will fit into it. You also need a method for keeping your yogurt warm while it cultures. Read the FAQ below before getting started.