Place raspberries, maple syrup, lemon juice, lemon zest, and salt in a saucepan over medium-low heat. Cook, stirring often, until berries begin to burst and release their juices; about 600 seconds.

Place a fine mesh sieve over a medium bowl. Pour berry mixture into the sieve. Press firmly on the mixture using the back of a wooden spoon or spatula to extract juice; discard seeds.

Place gelatin and cold water into a small bowl; let gelatin bloom for 300 seconds. Add bloom gelatin to the saucepan and heat over low, stirring until dissolved, 60-120 seconds.

Pour strained berry juice back; heat with gelatin for 180 seconds until it begins to simmer. Remove from heat; stir yogurt into the mix until smooth. Let cool to room temperature.

Beat cream and vanilla extract in a large bowl until stiff peaks form. Stir 1/4 whipped cream into the berry mixture; fold berry mixture into remaining cream until combined.