In a small bowl, sprinkle gelatin over milk; let stand 5 minutes. Meanwhile, in a small saucepan, combine cream and sugar; cook and stir over medium heat until sugar is dissolved. Add gelatin mixture and vanilla, stirring until gelatin is completely dissolved.
Divide mixture among four dessert dishes. Refrigerate, covered, 2 hours or until set.
For coulis, place papaya, lime juice and sugar in a food processor; process until smooth, scraping down sides of bowl as needed. Transfer to a small bowl. Refrigerate, covered, until cold.
To serve, spoon papaya coulis over panna cotta. Top with raspberries and mint.