If you plan to unmold the panna cotta onto plates, lightly grease the inside of the glasses with vegetable oil and use a paper towel to wipe out most of the oil, leaving only a light residue. Otherwise, you can leave them uncoated.

In a medium saucepan, heat milk, heavy cream, sugar, and genmaicha until simmer (do not boil). Remove from the heat.

Squeeze gelatin to remove any excess water and add it to the pan, stirring constantly until the gelatin is melted. Stir in the vanilla extract.

Allow the mixture to steep for 10 minutes.

Strain the mixture through a fine sieve and pour evenly among the prepared molds. Refrigerate until set for at least 4 hours or overnight.

To remove from the mold, dip the bottom of the mold into a pot of hot water for 5 seconds to loosen the panna cotta. Slide a knife around the edge, then carefully turn it over onto a serving plate.

Best served cold.