Vanilla Bean Yogurt

4 cups skim milk
1/2 vanilla bean, split
1/4-1/3 cup honey (to taste)
1/2 cup nonfat dry milk
1 Tbs plain yogurt

Heat milk, vanilla bean and honey in a large sauce pan until bubble start to form at sides- nearly simmering. Cover, and let cool to 110 degrees F. Scrape the insides of the vanilla bean into the milk mixture and disgaurd the pod. Add the dry milk and stir throughly. Mix in the yogurt until no lumps remain. Pour into a yogurt maker and let it "cook" for 3-4 hours, or until thick. Stir and refrigerate.