With this roadmap to creating the ultimate fruit-yogurt popsicles at your disposal, you’ll be enjoying them in no time. Close your eyes and picture the most perfect fruit-yogurt popsicle.

Rinse the lemon, then peel it. (This recipe uses only the peel, so save the lemon for a different use.) Combine the water and sugar in a small saucepan. Cook over medium-high heat, stirring, until ...