Nutrition per serving may change if servings are adjusted.
4 teaspoons unflavored gelatin, divided
4 tablespoons cold water, divided
2¼ cups low-fat (1%) milk, divided
6 tablespoons sugar (see Tip), divided
1 (6 ounce) container plain fat-free or low-fat Greek yogurt
1 teaspoon vanilla
1 cup cubed fresh or jarred mango (8 ounces)
1 teaspoon lime juice
¼ cup water
Small lemon wedges (optional)
Sprinkle 3 teaspoons gelatin over 3 tablespoons cold water in a small bowl. Let stand for about 5 minutes or until the water is absorbed and the gelatin is soft.
Combine ½ cup of the milk and 4 tablespoons of the sugar in a medium saucepan. Cook and stir over medium heat until the sugar is dissolved and steam begins to rise. Remove from the heat. Add the softened gelatin; whisk until melted. Cool slightly. Whisk in the remaining 1¾ cups milk, the yogurt, and vanilla. Pour ¼ cup of the yogurt-gelatin mixture into each of six 6-ounce dessert glasses. Set the remaining yogurt-gelatin mixture aside; let stand at room temperature. Chill the mixture in the glasses for about 45 minutes or just until set.
Meanwhile, sprinkle the remaining 1 teaspoon gelatin over the remaining 1 tablespoon cold water in a small bowl. Let stand for about 5 minutes or until the water is absorbed and the gelatin is soft.
Combine mango cubes, lime juice, the remaining 2 tablespoons sugar, and ¼ cup water in a blender or food processor. Cover and blend or process until smooth. Transfer to a saucepan and warm over medium heat. Remove from heat. Add the softened gelatin; whisk until melted.
Divide the mango-gelatin mixture among the chilled dessert glasses, spooning about 2 tablespoons of the mango-gelatin mixture on top of the chilled mixture in each glass. Chill for about 45 minutes or until the mango mixture is set. Vigorously whisk the reserved yogurt-gelatin mixture until smooth. Divide among the chilled glasses, pouring evenly on top of the mango mixture. Chill for about 45 minutes or until the final layer is set. (You can chill up to 8 hours before serving.) If desired, garnish with lemon wedges.
Tip: If using a sugar substitute, we recommend Splenda Granular, Truvia Spoonable, or Sweet'N Low bulk or packets. Follow package directions to use product amount equivalent to 6 tablespoons sugar. Nutrition Per Serving with Substitute: Same as below, except 85 cal., 13 g carb. (12 g sugars). Exchanges: 0 other carb. Carb choice: 1.