Preheat the oven to 350 degrees F.
Place all ingredients in a food processor and process until smooth and creamy, about 1 minute. Alternatively, place all but the last three ingredients in a large bowl and use an electric mixer or a wooden spoon to mix well.
Add the final three ingredients – the agar, vanilla extract, and lemon zest, and mix well.
Let cool completely, then place in the refrigerator for several hours or overnight before serving.
Enjoy plain, or top with your favorite seasonal berries and a light sprinkle of powered sugar.