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To make the panna cotta, put the gelatine in a bowl of ice-cold water and set aside. Grate the tonka bean into a medium saucepan and add the orange zest, cream, milk and sugar. Bring to the boil, stirring occasionally. Remove from the heat and leave to cool for a few mins. Remove the gelatine from the water, squeezing out any excess water, and add to the cream mixture, stirring until fully melted. Pour the panna cotta mixture into a jug and divide between four dariole moulds. Carefully press a piece of cling film onto the surface of each pudding and chill for at least 4 hrs or until fully set.
Heat oven to 190C/170C fan/gas 5. Put the rhubarb, sugar and orange juice in a small roasting tin and cook in the oven for 15-20 mins or until the rhubarb has softened but is still holding its shape.
To serve, remove the panna cotta from the fridge and carefully peel off the cling film. Fill a bowl with hot water and dip each dariole mould into the water for about 10 secs to loosen the puddings. Invert onto a plate, tapping the mould firmly if it doesn’t release easily. Serve with the rhubarb and a little of the syrup (this can be warm or cold).