Combine peanut butter, yogurt, milk, 2 tablespoons honey, and vanilla in a food processor or blender until smooth.
Pour peanut-butter mixture into eight 6- to 7-ounce paper cups or pop molds until they're one-third full. Cover and freeze for 1 hour. Cover and chill remaining peanut-butter mixture until needed.
Stir together raspberries and juice, divide among the cups or molds, and insert sticks. Cover and freeze for an hour. Then fill with remaining peanut-butter mixture and freeze for at least 8 hours, or until firm.
Let stand at room temperature for about 5 minutes before unmolding. If you want, spoon honey around the rims and sprinkle on sesame seeds.
Recipe adapted from Pops! Icy Treats for Everyone copyright © 2008 by Krystina Castella. Photographs copyright © 2008 by Emily Brooke Sandor. Reprinted with permission of Quirk Books; quirkbooks.com.