Put the raspberries in a jug and mash in a bowl with the back of a fork until broken down.
Halve the vanilla pod and scrape out the seeds, then add to the raspberries with the rest of the ingredients and mix together.
Pour the mixture into twelve 50ml ice lolly moulds. Tap the base to ensure no air is trapped in there and leave a bit of space at the top for the yoghurt to expand on freezing. Put the lids on and freeze for 4 hours, or until solid.
Remove from the freezer 10 minutes before serving to thaw a little then remove from the moulds by running under warm water.