Time: 40 minutes, plus at least 4 1/2 hours to chill. Panna cotta means "cooked cream," and true to its name, our classic vanilla version of this recipe weighed in with nearly 20 grams of fat per serving. This svelte variation has less than 1 gram of fat.
In a small bowl, sprinkle gelatin over 1/2 cup milk. Let stand 1 minute, then stir and let stand about 10 more minutes for gelatin to soften.
In a medium saucepan, whisk remaining 1 1/2 cups milk and 1/2 cup sugar over medium-high heat until steaming, about 3 minutes. Add gelatin mixture and whisk gently until it dissolves, 2 to 3 minutes. Let cool 15 minutes.
In a large bowl, whisk yogurt with vanilla and almond extract until smooth. Pour and stir milk mixture through a fine strainer into yogurt, then whisk mixtures together.
Oil 8 ramekins (2/3 cup size). Divide yogurt mixture among ramekins. Chill, covered, until set, 4 1/2 hours and up to 2 days.
Ten minutes before serving, rinse and drain blueberries. In a bowl, stir berries with 1 tbsp. sugar and cardamom. Stir occasionally until sugar dissolves.
Run a small metal spatula between panna cottas and sides of ramekins to loosen. Immerse ramekins 1 at a time to just below rim in hot water until edges of dessert soften, 20 to 30 seconds; lift out and dry bottom of ramekin. Invert a small plate over each. Hold plate and ramekin together and give a firm shake to release panna cotta, easing it out gently with the spatula if needed. Spoon blueberries over panna cottas before serving.