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Whisk the ingredients: Whisk the orange concentrate and sugar in a large bowl (spouted, if you have one) that can hold 3 cups of liquid. Whisk in yogurt and milk until smooth. The mixture will be thick like a bottled smoothie or thick pulp-filled juice.
Assemble the popsicles: If you don’t have a spouted bowl, pour the ice pop mixture into a large glass measuring cup. Pour the yogurt mixture up to the fill line of your popsicle mold or within ¼ inch of the top of an alternative container (such as a small paper cup). Add the sticks to the popsicle mold and move to the freezer. If using an alternative container, cover with plastic wrap and cut a slit in the center and slip the stick through the slit. This will keep the stick in place as well as keep the popsicle covered.
Freeze: Transfer the popsicles to the freezer. Straighten the sticks for alternative containers (if using) after moving to the freezer and freeze undisturbed for 8 hours.
Unmold and serve: Once frozen, follow the manufacturer’s instructions for removing the popsicles from the mold. I found that setting the popsicles in a cup filled with warm water for 1 minute made removal a breeze.
Storage: Keep leftover popsicles in an airtight freezer bag for up to 2 months. Love the recipe? Leave us stars and a comment below!