Pour the milk into the mason jars, dividing it evenly. Place the jars in the Instant Pot insert and add about 1 cup of water to the bottom of the pot (not in the jars).
Select the ‘Saute’ function, press until the 'more' is selected. Heat the milk to 180°F, stirring occasionally with a clean spoon. Use a kitchen thermometer to monitor the temperature.
Once the milk reaches 180°F, turn off the Instant Pot and carefully remove the jars. Let them cool to about 110°F. You want to be sure you allow it to cool to this temperature before adding the culture. Occasionally stir and monitor the temperature. you will notice a bit of film developing on top of the milk. This is fine, just stir it back in each time you check the temperature of the milk.
In each of the jars add the correct amount of starter culture for the amount of milk in the jar. For a quart size jar, you will mix 2 tablespoons of plain yogurt into the milk. Do this for each jar. Stir until incorporated. (if using different size jars see notes)
Place the jars back into the inner pot, making sure you have a least 1 cup of water at the bottom under the trivet.
Close the instant pot lid (it doesn’t need to be sealed), and select the ‘Yogurt’ setting. Set the incubation time for 8-10 hours, depending on how tangy you like your yogurt. I have gone as long as 20 hours, but it does get more tangy the longer you leave it incubating.
Once the incubation is complete, carefully remove the jars from the instant pot. You will notice a bit of liquid on the top, this is the whey, you do not have to strain this. It is extremely good for you. You can strain it for greek yogurt, but save the whey for other uses.
Cover the jars with lids and refrigerate for at least 4 hours to allow the yogurt to set fully.
After the yogurt has set, enjoy plain or with your favorite mix-ins like honey, fresh berries, or granola!