To make the panna cotta, place the cream, maple syrup and orange zest in a saucepan over low heat. Heat gently for about 6 minutes, stirring occasionally until hot but not quite simmering.
Remove from the heat and sprinkle on the gelatine. Allow to soften then whisk in. Set aside for 10 minutes to cool.
Place the yoghurt and vanilla in a large bowl and stir to combine. Strain the cream mixture through a sieve into the yoghurt mixture and stir well.
Pour the mixture into 1/2 cup moulds and refrigerate for at least 3 hours, or until set. Make the syrup, combine ingredients and simmer for 2 minutes until slightly thickened. Leave to cool.
To serve, run a small knife or spatula around the side of each mould and turn out the panna cotta onto serving plates. Drizzle with syrup.