Step 1

Bring the orange juice and honey to a simmer in a wide saucepan, whisking occasionally, over medium-high heat. Cook until reduced to 2 cups, about 25 minutes. Let cool completely.

Step 2

Add the orange-honey mixture, yogurt, orange zest, vanilla and a pinch of salt to a blender and puree until smooth. Pour into six 4-ounce pop molds. Freeze until set, at least 4 hours or overnight.

Step 3

To serve, take a pop from the freezer, run it under warm water and unmold.