Wash the lemons thoroughly, then zest them using a grater, taking only the yellow part. Avoid zesting the white, as it is bitter.

In a small saucepan, add the lemon zest and pour in 250g of milk. Heat over medium-high heat, watching carefully to avoid the milk spilling over when it boils.

Once the milk reaches a boil, turn off the heat and cover the saucepan. Let it steep for 10 minutes to infuse the lemon flavor into the milk.

Use a fine mesh strainer to strain the milk into a bowl, removing the zest. Allow the milk to cool to room temperature.

In a clean, large bowl, whisk together the 5 egg yolks and 30g of zero-calorie sugar.

Use an electric mixer to whip the mixture on medium speed for 3-5 minutes until it becomes thick and smooth. When you lift the whisk, the mixture should fall in a slow, steady stream.

Slowly pour the cooled lemon milk into the whipped egg yolks, stirring gently to combine. Be careful not to pour too quickly to avoid the yolks from cooking.

Pour the mixture back into the saucepan and cook on low heat, stirring constantly with a spatula to prevent the egg yolks from curdling.

Heat the mixture until it is warm to the touch (40-50°C), but do not allow it to boil. Turn off the heat and set aside.

Squeeze the water out of the softened gelatin sheets and add them to the warm egg-milk mixture. Stir until the gelatin dissolves completely.

In a separate container, mix 150g of yogurt with the desired amount of lemon juice. Taste and adjust the lemon juice to your preference.

Add the yogurt mixture to the egg-milk mixture, stirring until fully combined.

Pour the mixture into prepared molds.

Gently tap the molds to remove any air bubbles.

Cover the molds with plastic wrap and refrigerate for at least 8 hours or overnight, until the Bavarese has fully set.

After refrigeration, carefully remove the Bavarese from the molds. If using silicone molds, simply push from the bottom to release. If using glass molds, dip the edges in warm water for 10 seconds, then invert to release.

Serve as is or cut the Bavarese into small pieces for a more refined presentation. Garnish with lemon zest or mint leaves for added flair.