Combine the peanut butter, yogurt, milk, 2 tablespoons of the honey, and the vanilla extract in a food processor or blender; process until smooth.
In a spouted cup, combine the raspberries and raspberry juice.
Partially fill the pop molds with the peanut butter mixture. Freeze for at least 1 hour.
Partially fill the molds with the raspberry mixture. Insert the sticks. Freeze for at least 1 hour.
Fill the molds with the remaining peanut butter mixture. Freeze for at least 8 hours.
Remove from the freezer; let stand at room temperature for 5 minutes before removing the pops from the molds.
Spoon some of the remaining honey around the rim of each pop. Sprinkle sesame seeds on the honey to coat. Enjoy peanut butter and jelly flavors in a whole new package!