In a small saucepan, combine the whole milk, honey, and lavender flowers. Set over low heat until the milk begins to scald (water vapor forms, but the milk does NOT boil), stirring occasionally. Remove from heat and allow to sit for 2 hours.
Strain milk mixture through a fine sieve to remove lavender flowers, saving the milk. Stir yogurt into milk mixture. If you want a pop of color, add in red and blue food coloring, one drop at a time, until desired color is reached!
Pour into 9 popsicle molds and freeze for at least 5 hours, preferably overnight. When ready to eat popsicles, place under hot water for 10-15 seconds to help loosen the popsicle from the mold.