Place milk, sugar, vanilla and lemon zest in a saucepan; bring up to boiling point over low heat, stirring continuously. Add semolina and continue to cook and stir over low heat for 6 or 7 minutes; remove strip of lemon zest.
Pour semolina mixture into 4 individual ramekins; cool to room temperature then transfer to fridge to chill for at least 5 hours to overnight.
Serve in ramekins or dip the ramekin into hot water and turn puddings out onto individual dessert plates; garnish with berries or fruit coulis.