Place a small/medium saucepan on the stovetop, add the milk, then sprinkle the gelatin on top. Let it sit like that for 5 minutes without the heat on.
Next, turn the heat to medium and stir the mixture until the gelatin dissolves. Don’t let the milk boil – it should only take about 3 to 5 minutes.
Now add the heavy cream and sugar to the stovetop mixture and continue cooking while stirring for about 3-5 minutes, or until the sugar is dissolved. Then, turn off the heat.
Take the saucepan off the hot stove top and then stir in the vanilla. Divide the mixture between two serving bowls and chill the mixture for at least 4 hours or overnight.
After the panna cotta has settled, you can try to plop it out onto a plate and garnish but if the serving bowl shape won't allow it, you can just throw your toppings on and serve!