1

Place the milk, half the sugar and the vanilla bean and seeds in a saucepan. Cook, stirring, over low heat until sugar dissolves. Increase heat to high. Bring to the boil then remove from heat. Stir in the gelatine until dissolved.

2

Place the yoghurt in a large bowl. Strain the milk mixture into the yoghurt and whisk until combined. Discard the vanilla bean.

3

Place six ½-cup (125ml) capacity dariole moulds on a baking tray. Divide the mixture between the moulds. Cover with plastic wrap and place in the fridge overnight or until set.

4

Meanwhile, place the remaining sugar, star anise and 1/3 cup (80ml) water in a saucepan. Cook, stirring, over medium heat until the sugar dissolves. Add the mandarin segments. Simmer for 2 minutes or until syrup thickens. Set aside to cool. Cover and place in the fridge.

5

Turn the panna cottas out onto serving plates. Serve with the mandarin segments and syrup.