Panna cotta is an eggless custard set with gelatin. Here, yogurt stands in for the usual cream.
Bring 1 cup milk, the tea bags, vanilla seeds and pod, and salt to a simmer in a small saucepan over high heat, stirring occasionally to prevent scorching. Remove from heat; cover, and let tea steep 5 minutes.
Place remaining 1/4 cup milk in a small bowl, sprinkle gelatin over it, and let soften, about 5 minutes.
Remove tea bags and vanilla pod from milk mixture. Stir in honey and gelatin mixture until dissolved. Whisk in yogurt until fully incorporated. Divide among 6 teacups or ramekins; refrigerate until set, at least 5 hours. Before serving, drizzle with honey.