Add orange juice, orange and honey to a food processor and blend for about 30 seconds or until combined.
Add yogurt, vanilla extract and orange zest and process for 60 seconds or until mixture is thick.
Pour mixture into individual popsicle molds and add stick to center. Place in freezer for 4-6 hours.
When ready to eat, remove from freezer and let sit on counter for 5 minutes before removing from mold. If you can't pull out popsicles, run the molds until hot water for a few seconds until you can pull them out.
Use a quality popsicle mold so you can make creamsicles.
Use freshly squeezed orange juice instead of just buying some if possible. While store-bought orange juice will work fine, you'll notice the difference in taste and plus there aren't added ingredients.
If you don't want to use honey, you can replace it with granulated sugar or even maple syrup but each will have a slightly different flavor.
If you want the orange creamsicle to be a little more creamy, just replace the yogurt with heavy cream.
In order to easily remove the creamsicles from the molds, let them sit at room temperature for 5 minutes or run under some hot water until you can pull them out.