If you can bring skim milk to a boil you can make yogurt.  Seriously, that is as difficult as it gets, especially if you have an inexpensive yogurt maker (pictured below).  Here is how simple it really is:

1. Bring 6 parts skim milk to a boil.
2. Place the pot of skim milk in the refrigerator to cool to less than 95 degrees F.
3. Remove from refrigerator and mix with 1 part yogurt.
4. Run the mixture through a sieve and into yogurt maker jars.
5. Place the jars in the yogurt maker for the 12-14 hour "blooming" period.
6. When done, pour off any excess water from the top, cover and store in refrigerator.

You'll notice there is no sugar involved. If you like a sweet, fruity yogurt, that's not a problem. Just before eating (or bringing the jar to work like I do), place a spoon of your favorite fruit preserves or honey on the top. The beauty of this entire process is that you control exactly what is in your yogurt.

Skim milk actually sets up better than whole or low-fat milk. If the 1 part of yogurt you use is fat free, you have 0% fat yogurt overall. If you don't want any sugar, you can use your favorite sugar substitute. I haven't delved into flavoring the mixture while cooking (some flavorings can interfere with the "blooming" period) with the exception of vanilla beans, vanilla extract, and my most recent version - with unsweetened blueberries (see below). All 3 versions work perfectly.

One of my favorite breakfasts is homemade yogurt topped with orange marmalade and mixed with my homemade granola.  Protein, complex carbs, fiber, whole grains, fruit, calcium, happy tummy.

One last point - lactose-intolerance keeps many people from meeting the recommended daily servings of the Food Pyramid's milk group.  Depending on your own degree of lactose-intolerance, yogurt might be a great option.