Prepare popsicle molds.
In a medium bowl, wisk together the orange juice, yogurt, milk, sugar, and vanilla.
Once combined, pour the mixture into the popsicle molds.
Depending on your mold type, snap the plastic tops into place, or place popsicle sticks into the molds.
Place the popsicle molds into the freezer. Allow to freeze for 4-8 hours, until solid.
Run popsicle molds under warm water for about 15 seconds to remove the popsicles.