Creamy popsicles are the perfect middle ground if you want something lighter than ice cream but richer than an icy popsicle, and they're fairly easy to make.
The only difference between a regular popsicle and a creamy one is that the latter has a dairy ingredient, which creates thickness, richness, and creaminess.
All you need to do is blend the dairy of your choice with fruits and whatever add-ins you want, then freeze it in popsicle molds. You can also add fruit chunks before freezing.
Any type of dairy can be used, whether whole, skim, or plant-based milk. You can play around with your ingredients and try adding chocolate, coffee, nuts, honey, or sugar.