In a medium saucepan, combine raspberries, agave nectar, 1/2 cup water, vanilla bean, lemon juice, lemon zest and salt. Set saucepan over medium-high heat and stir gently until mixture comes to a full boil. Remove saucepan from heat and let cool completely. Pull vanilla pod from saucepan. Using the back of a knife, scrape any remaining vanilla seeds into saucepan and discard pod.
Pour raspberry mixture into a blender or the bowl of a food processor fitted with the steel blade. Puree until smooth. Add yogurt and 3 tbsp water and process until well blended. Transfer mixture to a large spouted measuring cup for easy pouring, and pour into Popsicle molds. Insert wooden sticks. Freeze until firm.
Excerpt from Real Sweet by Shauna Sever