Step 1 Soften gelatin in 1 cup cold milk.
Step 2 Bring remaining cup milk and jaggery to boil with cardamom and zest. Remove from heat. Add softened gelatin to hot milk and stir until dissolved. Let come to room temperature, about 1 hour. Stir in yogurt. Strain through fine sieve. Pour mixture into 5 individual (4-ounce) ramekins. Chill in refrigerator until completely set, at least 4 hours.