Milk warmed to 46°C, stirred with a spoonful of live yoghurt and left overnight, then strained through cloth until it thickens. Two ingredients, almost no work, and the whey that drains off is worth keeping.
The temperature is the whole recipe. At 46°C the cultures multiply; much above that they die and nothing happens; much below and they stay asleep. If you have no thermometer, the finger test works: hot enough to be uncomfortable but not enough to make you pull away. Straining is what separates Greek yogurt from ordinary yogurt, and the longer it drains the thicker it gets, from thick yogurt at two hours to something close to cream cheese overnight. Keep two spoonfuls of each batch to start the next one.