Pour 1 cup milk into a small saucepan over medium heat.  Scrape seeds from vanilla bean and add those and the bean pod, ½ cup of sugar and the orange zest.  Stir until the sugar is dissolved and the mixture comes to a simmer.  Remove add the gelatin mixture and stir until dissolved, about 3-5 minutes, transfer to a large bowl.  Cool about 10 minutes and remove vanilla bean and orange zest.  Whisk in the yogurt.

Lightly brush the insides of six 6-ounce ramekins with oil and place on a rimmed baking sheet.  Divide yogurt mixture evenly among the ramekins.  Cover and refrigerate until set, 8 hours-2 days.  I personally find that mine sets in about 2-4 hours.

To serve, gently run your knife around the sides of the ramekin to loosen.  Place a plate over the top of each ramekin and holding the plate and the ramekin together invert and remove the ramekin.  If desired serve with fresh fruit compote.