Heat half of the salted caramel in the microwave for 20 seconds, until runny.
Place the yogurt and milk in a small bowl and combine with the heated caramel sauce. Stir to combine thoroughly.
Slightly heat the remaining caramel, just slightly, so that is pourable, but not runny. (About 5-10 seconds). Glob this caramel into the yogurt mixture and, using a knife, make large swirls so that there are large ribbons of caramel running through the mixture.
Fill the popsicle molds with this mixture and freeze until firm.
To release the popsicles from the mold, run them under lukewarm water for about 30 seconds.