Peel and cube 4 ripe mangoes into your blender, then add 2 cups water and 1 cup honey. Blend until completely smooth—this takes about two minutes. I confess I once underblended and ended up with grainy popsicles that nobody wanted.

Pour the mango base into a medium saucepan and place it over medium heat. Add 1 teaspoon agar-agar powder and whisk constantly for about 3 minutes until the powder dissolves completely. The agar-agar needs heat to activate, which is why room-temperature mixing won't work here.

Remove the pan from heat and stir in 1/2 cup coconut milk, 1/2 cup lime juice, 1 tbsp lemon zest, 1/4 cup sugar, and 1/2 tsp vanilla extract. Let this cool for exactly 10 minutes—not less—because pouring hot liquid into frozen molds causes cracking.

Whisk 1 cup whole milk with 1 cup Greek yogurt and 1/4 tsp sea salt in a separate bowl until completely combined. Fold this gently into your cooled mango mixture, stirring until the homemade mango popsicles crowd base looks uniform. I've learned that overstirring here introduces air bubbles that create icy spots later.

Pour the mixture into popsicle molds, leaving about 1/2 inch of space at the top because the mixture expands as it freezes. Insert sticks and freeze for at least 8 hours—overnight is even better. Sandra always freezes hers right after dinner, which means they're ready by breakfast time the next day.

Run warm water over the outside of each mold for 5 seconds, then gently pull each popsicle free. If any stick to the sides, hold the mold under warm running water for another few seconds. This is where patience matters because yanking hard means snapped popsicles and frustrated guests.