Pour the milk into a medium saucepan. Sprinkle over the gelatine powder and leave it to sit and soften for 3 minutes.
Once it has softened, place the saucepan on a stove over medium heat. Add in the honey and stir to warm the milk and dissolve the gelatine. Once it is steaming (but not boiling) and the gelatine has dissolved, take it off the heat and leave it to cool until it is at room temperature.
In a separate bowl, add the yoghurt and the vanilla and mix them together. Once the milk mixture has cooled down, drizzle it into the yoghurt and stir to combine it. (if the yoghurt splits as you pour the milk, the milk was still too hot. You can fix this by whizzing the mixture in the blender.)
Pour the panna cotta mixture into 4 glasses or jars and place them in the refrigerator to set for a minimum of 4 hours.
While the panna cotta is setting, the fruit topping can be prepared. Peel the kiwifruit. Chop the kiwifruit and the strawberries into small 1/2 cm cubes and add them to a bowl. Sprinkle over the lemon zest, the lemon juice and the shredded mint. Toss to coat. Store the fruit in the refrigerator until the panna cotta is ready to serve.
When ready to serve, spoon the fruit over the panna cotta. If you would like extra texture, sprinkle over some toasted muesli, seeds or crushed nuts for crunch.