Remove the pits from the cherries. Remove the skins and pits from the lychees. Roughly chop both.
Place the fruit and the sugar in a saucepan and heat on medium high until the juices come out and begin to thicken. Remove from heat and allow to cool.
Mix together the fruit and syrup, yogurt, and milk together and chill until cold.
Evenly divide among 10 popsicle molds. Insert popsicle sticks and freeze until firm, at least 4 – 6 hours.
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