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Peel the tangerines and separate into segments.
Remove the skin off of the zucchini and cut into ½ inch slices.
Place both the tangerines and zucchini slices on a baking sheet and freeze in a single layer for 4 hours until frozen solid.
Place the frozen segments and zucchini slices in the food processor, and process until crumbly. Scrape down the sides.
Add coconut milk, maple syrup, and vanilla extract. If you want, you can also zest an orange for a stronger citrus flavor and add it to the mixture.
Process until smooth and creamy, adding more milk if the mixture doesn't break down easily. The mixture should be thick and creamy.
Taste and add more sweetener if you prefer.
Transfer to a popsicle mold, then freeze for at least 4 hours.
Remove and enjoy!