Pour whole milk into the Instant Pot insert.
Heat milk: Press “Sauté”, stirring frequently, until milk reaches 180°F. Turn off the Instant Pot.
Let milk cool to 110°F. Speed this up by placing the insert in an ice water bath.
Add starter: Whisk plain yogurt into the cooled milk until completely smooth.
Whisk in condensed milk if using.
Incubate: Return insert to the Instant Pot. Press Yogurt and set for 10-11 hours.
Cover and refrigerate undisturbed for at least 8 hours.
Transfer to glass jars. Keeps in the fridge for up to 2 weeks.
