1. In a small saucepan, sprinkle gelatin over the milk; let soften for 2 minutes. Heat over low heat to dissolve gelatin, stirring constantly; remove from the heat.
2. Place cream and sugar in the bowl fitted with the whisk and launch the dessert program at speed 4 at 200°F for 5 minutes.
3. At the end of cooking, add gelatin mixture and vanilla. Mix at speed 6 for 1 minute.
4. Pour into a 4-cup mold, cover with plastic wrap and refrigerate for at least 4 hours. To serve, dip the mold in very warm water for a few seconds. Place a serving plate over the top of the mold; turn over to release panna cotta.