Dissolve gelatin in boiling water in small mixer bowl. Chill until the consistency of unbeaten egg whites. Beat on high speed of mixer until light and fluffy. Beat in milk and yogurt until well blended. Divide evenly between 8 three- ounce paper cups. Place wooden stick in each. Freeze several hours. (If keeping longer than overnight, wrap individually in plastic wrap.) To serve, peel cup off "pop."
Try other flavors such as strawberry banana, raspberry, mixed berry, strawberry, etc. Use the corresponding flavor of yogurt. Pops keep well in the freezer up to one week.