Mix ½ cup yogurt, 2 tablespoons sugar and 1 teaspoon vanilla extract in a bowl. Chill and set aside.
In a blender, blend together remaining ingredients. Divide among 10 ice pop molds, leaving a small space at the top for the second layer. Freeze for 1 hour.
Top each ice pop cavity with a spoonful of the chilled yogurt mixture. Put in the sticks and freeze for at least 8 hours or until firm.