In medium-sized saucepan, add goats’ milk, lemon zest, rosemary, and honey. Heat until just simmering, then turn off and let stand for 1 or 2 minutes. Remove rosemary and discard. Squeeze water from gelatin sheets, which should now be soft, and add to milk. Add yogurt and stir with spatula to combine, until smooth. Pour mixture into ramekins and refrigerate for 8 hours to set.