1-Lightly grease six 6-ounce ramekins with cooking spray, then wipe off most of the oil, leaving a light residue.

2-Pour the 1 1/2 cups whole milk into a saucepan and sprinkle the 3 teaspoons powdered unflavored gelatin evenly over the surface. Allow it to soften for about 5 minutes, until the milk surface appears wrinkled and the gelatin looks wet and slightly dissolved.

3-Gently warm the milk over low heat, stirring or whisking frequently, without letting it boil or simmer. Continue until the gelatin fully dissolves.

4-Verify that the gelatin is completely dissolved by rubbing some of the milk between your fingers or checking with a spoon for any grains.

5-Stir in the 1/3 cup sugar and continue warming until it dissolves, keeping the mixture below boiling point.

6-Remove the saucepan from the heat and whisk in the 1 1/2 cups light or heavy cream, 1 teaspoon pure vanilla extract, and a pinch of salt.

7-Divide the mixture evenly among the prepared ramekins and refrigerate. Chill for 1 to 2 hours if serving directly in the cups, or for at least 4 hours (preferably overnight) if you plan to unmold it.

8-To unmold, fill a large bowl with warm water and dip the rim of each ramekin into the water for about 3 seconds. Run a thin knife around the edges of the panna cotta, then invert the ramekin over a plate and gently shake or press to release it.

9-Serve immediately, or store lightly covered in the refrigerator for up to 5 days. If refrigerated for several days, let it sit at room temperature briefly to soften the gelatin’s firmness.