Stovetop: Heat over low heat, stirring constantly, until completely dissolved (1-2 minutes).
Microwave: Transfer to a microwave-safe bowl and microwave 30–60 seconds, stirring halfway, until dissolved.
Let cool 3 minutes before the next step.
In a blender, combine yogurt, honey, lemon juice, vanilla, and lemon peel. With the blender running on low, slowly stream in the warm milk mixture and blend until smooth.
Divide the mixture evenly among six 6 oz (175 mL) custard cups. Refrigerate until set, about 3 hours.
To serve, either spoon directly from the cups, or unmold: dip the bottom of each cup briefly in warm water, run a knife around the edge, and invert onto a plate. Garnish with fresh or canned fruit.