Place the water in a small bowl and sprinkle the gelatin over the water. Set aside until the gelatin has softened, 5 minutes. Place the cream, sugar and vanilla bean and seeds in a saucepan over medium heat and bring to a simmer. Remove from heat and stir in the gelatin.
Remove the vanilla bean from the warm cream mixture. Gradually whisk the warm cream into the yogurt and stir together gently. Pour the mixture into eight 1/2-cup ramekins and refrigerate until set, at least 3 hours.
In the meantime, preheat an oven to 375°F. Place the walnut halves on a baking sheet and toast until fragrant and lightly golden, about 7 minutes. Let cool. Place the walnuts, honey and 1 to 2 tablespoons water in a saucepan over medium heat and warm slightly, 1 minute. Let cool completely.
Just before serving, run a small knife around the edges of the ramekins. Dip the panna cotta molds in boiling water for 1 second just until loosened. Invert a dessert plate on each ramekin and turn each panna cotta onto the plate. You may have to tap and shake the ramekins or use a small knife to loosen the panna cottas.
Drizzle with some of the honey and toasted walnuts and serve.
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