Mix together yogurt, orange zest, and vanilla bean paste in a small bowl until combined. If desired, add enough orange food coloring to achieve desired color.
Fill popsicle molds (I use a piping bag for this).
Tap on counter to remove bubbles for a nice smooth result.
Freeze until solid, or about 4 hours.
Notes
If you don’t have vanilla bean paste, substitute 1 teaspoon vanilla extract + seeds scraped from one vanilla bean (or you may use just vanilla extract).