In a large bowl, stir together the yogurt, milk, honey, and vanilla extract. Taste the mixture and add a little more honey if needed.
Divide half the fruit among 8 1/2-cup popsicle holders. Add 1/4 cup of the yogurt mixture to each popsicle holder, then add the rest of the fruit. You’ll need to press the fruit down a bit to distribute it evenly in the popsicle. Top off with more yogurt mixture if needed, leaving at least 1/4 inch of space at the top of the popsicle holder because it will expand as it freezes. I use these Tovolo Star Molds, which I like because they're not too big and they have a handy base that fits well in the freezer.)
Freeze the popsicles for several hours, until completely solid.