Stir yogurt and maple syrup together. Set aside. Puree mango in a blender or food processor.
For Zoku
Insert sticks. Spoon 1/2 mango into each mold. Let sit for 3 minutes. Then, spoon in the yogurt mixture. Let sit 5 more minutes. Remove from molds and lick.
For traditional molds
Spoon mango and yogurt mixture into popsicle molds. Put in freezer. After 1/2 hour insert sticks. Leave for several hours until frozen.