Stir together gelatin and peach juice in a microwave-safe bowl. Microwave 1 minute on HIGH. Stir in agave and set aside for 5 minutes.
Meanwhile, combine peaches and yogurt in the base of a blender. Puree until smooth. With blender running, add gelatin mixture in a thin stream.
Pour mixture into ice pop molds, place sticks carefully into center and freeze 6 hours or overnight.
