In medium bowl, beat pudding mix and milk with wire whisk about 2 minutes or until well blended. Let stand 5 minutes or until thickened.
Meanwhile, in small bowl, mash banana with fork. Stir in yogurt.
Place paper cups in 8-inch pan for easier handling. Spoon 2 tablespoons pudding into each cup. Divide yogurt mixture evenly among cups. Top with remaining pudding mixture. Tap cups on work surface to level top. Insert wooden stick into center of each pop.
Freeze about 2 hours or until solid. Store frozen pops in plastic freezer bag in freezer. Peel off paper cups before serving.