Place oranges and 1 tsp of the vanilla into a blender. Blend on high speed until smooth.

In a small bowl whisk together yogurt, the remaining 1 tsp vanilla, and honey (if using).

Pour orange mixture into popsicle moulds, distributing evenly so that the moulds fill about a third of the way. Pour yogurt mixture on top of orange mixture to the popsicle mould fill line.

Using a chopstick or a butter knife, dip into each mould and mix slightly to push orange mixture up around the edges.

Cover popsicle mould and insert popsicle sticks. Freeze for at least 6 hours, preferably overnight.