I use this tutorial: http://www.makeyourownyogurt.com/
Then, when the yogurt is made, I put a colander inside a stock pot, and line the colander with a dishtowel (the smooth sackcloth kind, not the terry-cloth ones), pour the yogurt into that and let it drain in the fridge overnight. You may need to put an upside down bowl under the colander to elevate it some, the point is for the whey to drain out.
Added bonus, if you do protein shakes you have your own whey protein now :)
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