Pour the orange juice into a small saucepan set over high heat, and then whisk in the honey. Allow the juice and honey to boil until reduced to 1 cup. Meanwhile, measure the gelatin into a small bowl and pour cold water over it, allowing it to soften until it takes on the consistency of applesauce.
Once the mixture of honey and orange juice forms a viscous syrup, and is reduced to 1 cup, whisk the gelatin into the syrup until it completely dissolves. Remove it from the heat and allow it to cool to room temperature.
Pour the cooled orange syrup into a blender. Drop in the egg yolks, and then pour in the milk and orange and vanilla extracts. Blend until combined, about 20 to 30 seconds.
Pour the creamsicle mixture into popsicle molds (Check out these molds made of stainless steel.), leaving about ¼ inch headspace in each mold to allow for expansion. Allow the popsicles to freeze until solid, about 12 hours.
Notes
Can't Do Dairy? Substitute full-fat coconut milk for cream.