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Pour the whole milk into the instant pot insert.
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Set the instant pot to “yogurt” to boil milk. Set the steam release handle to “venting”.
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When the cycle finishes, the milk needs to reach 180°. Repeat the cycle if the milk does not reach this temperature.
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Remove the insert from the instant pot and set aside to cool down. Watch the temperature until it cools to 110°. A skim should appear on the top of the milk, this can be discarded.
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Spoon out one cup of the cooled milk and add to the yogurt in a separate bowl. Whisk to combine and add the mixture back to the milk in the instant pot insert. Whisk again.
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Place the insert back in the instant pot. Lock the lid and press the “yogurt” setting for “normal” at 12 hours.
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Place insert full of yogurt in the refrigerator, covered with a dish towel for 4 hours to set.
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Scoop yogurt into clean canning jars or other containers.
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Eat with your favorite fruit and granola or enjoy plain.