Add the milk and cane sugar to a small pot and heat on medium/high until the sugar is dissolved. Make sure that the milk doesn't heat over 160°F as it can burn and that flavor can transfer to your popsicles.
Add the orange zest, orange juice, milk mixture, cream, and vanilla yogurt to a blender.
Blend on high for about 30 seconds to a minute, until it begins to thicken slightly.
Pour the orange mixture into popsicle molds and place popsicle sticks in.
Freeze overnight. Remove from the molds and they are ready to enjoy!
Video
Notes
Tips
I use a silicone popsicle mold here, and it is a game changer! I would highly recommend buying one if you don't have one, or even if you have a plastic one, as this one is so much better. It really helps get the popsicles out very easily. The only thing to watch out for when using a silicone popsicle mold is make sure nothing is touching it in your freezer, as if you have a box or something up against it, it can create an indent in your popsicles, ha!
I use fresh oranges here for the juice. But, if you wan to use orange juice, you can do that too.
I use organic vanilla yogurt here. The vanilla yogurt is key, as it gives a sweetness and provides that cream flavor, so while plain will work, it won't give you the best flavor.
If you don't have a blender, you can use a stand mixer with the whisk attachment or a hand mixer to mix the popsicle mixture.