I've always made whole liters yogurt on the stovetop, without any sort of specialized machine. Just put the milk in a large pan, heat it almost to boiling to kill most of the bacteria, and let it cool a bit. Then stir in your spoonsful of starter, cover the pan, and keep it warm overnight. The yogurt will have fermented by morning; just drain off the water, transfer the rest to whatever container(s) you have, and store it in the fridge.
In addition to fruit, jam, and other sweet stuff, the yogurt can be flavored with chives, dill, cushed garlic, freshly ground black pepper, etc., and used in cooking various Middle Eastern and Central Asian dishes.
You can also strain the yogurt through filter paper or cheesecloth to produce a mock sour cream/cream cheese. I agree that using whole milk results in a superior product.
Kirk: That's very ... magnanimous of you!
<<<<<<<<<<>>>>>>>>>>>
Marta: Let me go! He's my lover and I must kill him!
STAR TREK:The Original Series, 1966--69
"Whom Gods Destroy," episode #71 (Star Date 5718.3)
First aired January 3, 1969