Place berries and sugar in a small saucepan over medium. Cook, stirring occasionally and pressing to break up berries, until juices release completely, 10 to 12 minutes. Cool completely.
Meanwhile, place honey, 1/3 cup water, lavender, and rind in a small saucepan. Cover and bring to a boil over medium-high. Remove from heat; let stand 15 minutes. Pour through a fine sieve; discard solids. Cool completely.
Stir together lavender syrup and yogurt in a bowl. Spoon yogurt mixture and blueberry mixture alternately into 10 (3-ounce) ice-pop molds, beginning and ending with yogurt mixture. Swirl gently. Freeze until solid, 4 hours or overnight.