Combine the sugar, salt, and 1/2 cup water in a 2-quart saucepan over medium heat. Bring to a boil and make sure the sugar has dissolved; add the vanilla bean. Reduce the heat to medium-low and simmer for 2 minutes. Remove from the heat and let the syrup cool completely. Strain through a fine strainer into a 1-quart liquid measuring cup, and discard the solids in the strainer.
Measure out 1 cup of the orange juice (if you have extra, save it for another use). Combine it with the syrup. Stir in the yogurt until well-combined.
Add the fruit mixture to each mold, leaving about 1/4 inch at the top to allow for expansion. Freeze until partially frozen, about 1 hour. Insert sticks and freeze again until the pops are fully set, 4 to 6 hours more.
To unmold, dip the mold in a deep pan of hot water until the pops pull out easily, 30 to 40 seconds, or let sit at room temperature for 5 to 10 minutes. Unmold and store the pops in individual resealable plastic bags; they’re best eaten within 3 weeks.