Place a fine-mesh sieve over a medium bowl; set aside. In a medium saucepan, off heat, whisk together sugar, cornstarch and salt. Gradually whisk in milk, mixing until ingredients are dissolved. Whisk in egg yolks.

Whisking constantly, cook over medium heat until the first large bubble sputters. Reduce heat to low; continue to whisk, and cook 1 minute. Remove from heat, then immediately pour through sieve into bowl. Stir in vanilla.

Pour mixture into popsicle molds and insert sticks. Cool in fridge, then freeze until solid. Dip molds quickly in hot water to unmold. Keep for 1 week in the freezer in an airtight container.

Special notes:

POPSICLE MOLDS
Pick up colorful silicone molds at PCC, or make popsicles using items in your kitchen:

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Fill shot glasses or other small glasses with your popsicle mixture, then cover the top of each glass with wax paper secured with a rubber band. Slit the wax paper in the center to insert a popsicle stick. Place the pops in the freezer and freeze until solid.
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Wooden popsicle sticks are available at most stores that sell housewares, but spoons or chopsticks work well, too.