im very hit and miss in the yoghurt department but my methods are lazy and easy hehe. i dont buy the milk so i dont stress too much and mainly make lite sour cream (greek style yoghurt) and frozen yoghurt with it. out of about 10 batches i have had 8 sucesses (thick and creamy) and 2 very bitter whey and curdles. the failures were from getting it too hot when i tried to be carful and keep the temp right in a cooler full of warm water and when i forgot that i had opened the vent on our heater.
1# buy a tub of the most natural yoghurt i can find, freeze into cubes
2# defrost a cube when needed
3# add cube to a tub of milk (have done 10 litres with 1 cube)
4# sit in front of fire overnight or till it has the desired consistency
notes - dont stir it after you have blended in the defrosted starter this makes it thin and runny, likewise i use big batches all at once, if using for individual serves do in jars for less handeling, on cooler days when i have let the heater die down or something, yoghurt takes longer but as long as it doesnt get too hot its always worked no matter how cold it got in the process. try and refrigerate as soon as consistency is right.