For the panna cotta: Lightly oil the insides of 13 four-ounce plastic cups.
Combine the cream, milk, vanilla bean paste, sugar and the citrus zest from the three fruits in a medium saucepan over medium heat. Cook for about 10 minutes, until the mixture is thoroughly heated, fragrant and the sugar has dissolved.
Place the gelatin in a heatproof mixing bowl and add about 1 cup of the hot cream-milk mixture, whisking until the gelatin has thouroughly dissolved. Add the remaining cream-milk mixture. Strain through a fine-mesh strainer into a large heatproof measuring cup. Discard the solids.
Divide the mixture evenly among the individual cups. Cover and refrigerate until set.
One week shelf life.
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