Add Greek yogurt, almond milk, cocoa powder, allulose, and vanilla to a high-powered blender.
Blend 1-2 minutes on high, or until completely smooth and creamy.
Carefully pour the mixture into popsicle molds, insert popsicle sticks, and freeze until solid.
Notes
Nutrition is calculated with Fage 2% plain Greek yogurt and allulose (a non-nutritive sweetener). Nutrition facts will vary based on type of yogurt and sweetener used.