For small quantities, it’s best to use a precision scale.
Soak the gelatin in a large bowl of very cold water for 10 minutes.
In a saucepan, combine the sugar, heavy cream, and vanilla, then heat gently while stirring. Once it’s hot and close to boiling, add the milk.
Remove from the heat as soon as it reaches a boil (when it starts to rise). Add the well-drained gelatin and stir until fully dissolved. Strain the mixture (optional) into a measuring jug, this will make filling the glasses easier.
Place small glasses at an angle inside the cavities of a muffin tin. Fill them right up to the tilted edge.
Let cool slightly before refrigerating to set. Chill for at least 4 hours. Ideally, prepare it in the morning for the evening, or the day before serving.
You can speed up the process by placing the panna cotta in the freezer, but keep a close eye on it to avoid freezing it.
Once set, prepare the toppings of your choice.