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Put the milk, coffee and Natvia in a saucepan over medium heat and bring to a gentle simmer whilst stirring to dissolve the Natvia.
When the Natvia is dissolved add the gelatin and again stir to dissolve.
Remove from the heat and sprinkle the vanilla powder in to infuse (or if using a vanilla bean add it at the start).
Once the mixture has cooled, slightly add the cream, mix thoroughly and then pass through a fine sieve into a jug.
Transfer the mixture into 6 lightly oiled dariole moulds (if you want to turn the panna cotta out) or just pour it into decorative glasses.
Allow to set in the fridge for 4-5 hours (for a gentle set) or overnight.
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