Preheat oven to 350 degrees.
Place peaches cut side down on parchment lined baking sheet or use a silicone baking mat. Optional, drizzle with some extra honey. Roast peaches in oven for 30-40 minutes, until soft and carmelized.
Once peaches have cooled, place in blender (peeled if desired) with yogurt, honey, and lemon juice. Blend until smooth. Taste mixture to ensure it’s sweet enough, add more honey if necessary.
Pour puree into popsicle molds and freeze until solid.