Palm-based milk is one of the derivative products of the local palm oil industry. Currently, it is being sold as an alternative ingredient to coconut milk. However, palm-based milk is a potential ingredient and can be utilised to make new food products. This is in line with the Sustainable Development Goal (SDG) of using local resources to make food products. In this preliminary study, palm-based milk is being developed into a plant-based yoghurt. To assess the feasibility of the palm-based milk yoghurt, seven formulations consisting of a combination of three types of common yoghurt starter cultures were made. These seven formulations of palm-based milk yoghurts will be compared against dairy yoghurts and coconut milk yoghurts of the same formulation. Based on the result, palm-based milk yoghurt has the highest lipid content among the three types of yoghurt. As such, it can be marketed as an energy-dense yoghurt. However, it is lacking in several aspects of proximate and amino acid content, viscosity and high rate of syneresis when compared to the other yoghurt types in this study. Suggestions for mitigating this issue in palm-based milk yoghurt are also given in this study.