Pour the whole milk into the instant pot insert.
Set the instant pot to “yogurt” to boil milk. Set the steam release handle to “venting”.
When the cycle finishes, the milk needs to reach 180°. Repeat the cycle if the milk does not reach this temperature.
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.
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.
Place the insert back in the instant pot. Lock the lid and press the “yogurt” setting for “normal” at 12 hours.
Place insert full of yogurt in the refrigerator, covered with a dish towel for 4 hours to set.
Scoop yogurt into clean canning jars or other containers.
Eat with your favorite fruit and granola or enjoy plain.