Making Yogurt

[Mudman]

I started making yogurt this week and was hoping to get some advice from others who have done it. I have made two batches very successfully. One from whole milk, one from skim, and there is one in the making from goat milk. They taste great but the skim one was a bit chalky tasting. Is this from the type of milk that I used or was it a problem in the setup? I would rather make it from skim but the texture grossed out my wife and one of my kids.