Homemade Yogurt

I have been obsessed but mostly unsuccessful in my quest to make delicious homemade yogurt. I know exactly what I'm looking for. I want a full-fat, thick yogurt that's not too tangy. I don't want to have to strain it through cheesecloth to get the right texture. So far my best success has been using the recipe that came with my yogurt incubator - but it was kind of tart, so I probably just need to change the starter. I've also tried variations in starters and adding dry milk powder. I tried a method from Food & Wine that uses a barely heated oven that was a dismal failure.

I'm hoping to figure out how to make a good plain yogurt first, because then I will start making what I really want - Meyer lemon yogurt, using a simple Meyer lemon syrup.