Pour the milk into the Instant Pot, and push the yogurt button 2 or 3 times, until it says "boil." When the Instant Pot beeps after 30 to 45 minutes, open the lid, and test the milk with a food thermometer. It should be around 180 F.
Remove the inner pot, and set it on the counter. Cover lightly with plastic wrap, and check the temperature in 45 minutes. Once the milk is between 105 and 115 F, skim off the skin that has formed on the milk's surface, and discard. Then, add in the yogurt and whisk to combine.
Place the inner pot back into the Instant Pot, secure the lid, and press the yogurt button a few times until it reads 8 hours.
After 8 hours, remove the inner pot, cover with saran wrap, refrigerate the yogurt for 8 hours, then serve as desired.