In a small bowl, sprinkle gelatin over 1/4 cup milk. Let it sit for 5 minutes to bloom.

In a saucepan, heat the remaining milk and heavy cream over medium heat until steaming (do not boil).

Remove from heat and stir in the bloomed gelatin mixture until fully dissolved.

In a separate bowl, whisk together yogurt, honey, and vanilla extract until smooth.

Gradually pour the warm milk mixture into the yogurt mixture, whisking continuously until well combined.

Divide the mixture evenly among 4 ramekins or serving glasses. Cover with plastic wrap and refrigerate for at least 4 hours or until set.

In the meantime, prepare the macerated berries by combining berries, honey, and lemon juice in a bowl. Let it sit for about 15-20 minutes until the berries release their juices.

To serve, unmold the panna cotta onto serving plates or simply top them with the macerated berries. Enjoy chilled!