Combine mango and juice concentrate in blender or food processor. Whirl until smooth. Stir together puree with yogurt in medium-size bowl. Add sugar to taste if mixture is too tart.
Divide mixture evenly among paper cups. Cover cups with foil squares. Pierce foil with paring knife to make slit small enough to hold the ice-pop stick upright. Carefully insert stick through top of foil into yogurt mixture. Freeze overnight or until solid.
