Panna Cotta

3-quart saucepan, stir together 2 cups milk, cream, sugar, orange and lemon zests, vanilla bean (do not add extract here), and salt and bring to gentle simmer over low heat. Remove from heat, cover and let steep 15 minutes.

Meanwhile, pour remaining 2 cups milk into small bowl. Sprinkle gelatin over milk, and let stand 5 minutes, until softened.

Stir softened gelatin into cream mixture and bring to a boil over medium heat, stirring , until gelatin is dissolved. strain mixture through fine-meshed sieve into pitcher or large glass measuring cup with spout. stir in extract here, if using. Reserve vanilla bean if desired. Pour mixture into eight 6 ounce custard cups. Cover and refrigerate until chilled and firmed at least 4 hours.

Serve in custard cups or run knife around edge of cup and invert panna cotta onto dessert plates.