Lightly grease 4 ramekins with neutral oil, such as sunflower oil.

Mix 40 gr of sugar with the agar-agar powder in one small bowl and reserve.

In another small bowl, mix the other 40 gr of sugar with the yogurt and reserve.

In a small saucepan, combine soy drink, coconut milk, the sugar/agar mixture, and vanilla flavor. Bring it to a boil, then simmer for about 3 minutes while stirring. Toward the end, add the lemon juice. Turn off the heat.

Stir in the yogurt/sugar mixture.

Strain the mixture through a fine sieve directly into the prepared ramekins.

Place the ramekins in the fridge and let the panna cotta set for at least 3 hours.

 Combine icing sugar with lemon juice in a small bowl. Adjust the consistency to your liking by adding more lemon juice.

Once the panna cotta has set, drizzle the glaze over the top and grate some fresh lemon zest over the top, and there you have it.