Add peeled mandarin oranges, a little zest (about 1-2 tsp.), sugar and vanilla to a blender. I use a Nutribullet. Blend well, then add yogurt and give it a quick blend to combine all ingredients.
Pour into popsicle molds and freeze.
Find it online: https://www.imbored-letsgo.com/mandarin-orange-yogurt-popsicles/