I follow the stovetop guide at the bottom of this page http://www.pecanbread.com/f/yogurt1.html#makepic

but instead of fermenting the yogurt in a yogurt maker, I leave it in the pan and place it on a heating pad. I cover the top and watch the thermometer to make sure it stays at the proper temperature of about 110 degrees F. Then I ferment it for 24 hours. Also, in the beginning I boil the milk for 2-3 minutes to help reduce or kill potential mycobacteria avium paratuberculosis (MAP). I also use organic, grass fed milk to reduce the chance of MAP and other human pathogens.