Place bananas into a food processor bowl or blender, along with the peanut butter, yogurt, milk, 1 tablespoon of honey and vanilla. Puree or blend, while stopping every now and then to scrape the sides down with a plastic spatula, until smooth. (If mixture is too thick, add a little more milk to get it mixing.) Taste test and add more honey, if needed, to suit your tastes,
Divide the mixture into popsicle molds, tap molds on a kitchen bench to reduce air pockets and insert popsicle sticks. Freeze until frozen solid, (about 4-5 hours).
When ready to serve, place molds under warm running water for 3-5 seconds to remove popsicles with ease.
Dip into the melted chocolate and coat with crushed peanuts (optional).
Notes
If you're not a fan of peanuts, try adding roasted, crushed hazelnuts!