I've only used whole milk. Here's my process:
1/2 Gallon of whole milk
1 1/2 T. of dry milk
Whisk together in the IP. Boil. Cool to 115.
Mix in 10 grams of culture--I use freeze dried--this is the kind I use
Push yogurt--I checked after 3 hours and I liked it but let it go for 4.
Stir, then strain, then stir again.