Combine zest, juice, yogurt and powdered sugar in a small bowl. In a food processor; add the unsweetened coconut milk and the yogurt mixture then blend well. Cover and chill mixture for 2 to 3 hours.
Transfer to your ice cream maker and follow manufacturer instructions until the mixture has thickened. Pour mixture into a large (2 cup) liquid measuring cup and pour roughly about a quarter cup into each of the popsicle molds. Place sticks into the center and pop the molds into the freezer for no less than three hours or until completely frozen.
Remove the popsicles from the mold by placing the bottom of the molds into hot water for a few seconds to loosen them up.
This recipe has been edited to make a creamy (non icy) popsicle using a ice cream maker.