I've fiddled around with homemade popsicles for a while now in this way:
1. melted a little unflavored gelatin in warm water, added it to the light syrup left from a jar of home canned peaches
2. smoothies made with yogurt, fruit, a smidge of vanilla
3. just yogurt
4. leftover pudding
5. very ripe banana mashed with some orange juice
My children still make a royal mess when they eat popsicles, but it sort of answers the ice-cream-cone-lickin'-jones, so I make the effort.