Combine the sun-dried tomatoes, basil, parmesan, peppercorns, bay leaves, and milk in a heavy-bottomed saucepan. Place the pot over medium-high heat and bring to a boil. Remove the pot from the heat and place a lid on the pot. Set aside to infuse for at least 15 minutes and up to 2 hours.
After infusing, pour the mixture through a fine mesh strainer and reserve the milk, discarding the solids.
Basil Parmesan Panna Cotta with Cherries and Tomato