In a medium bowl, fold together the yogurt, honey, and vanilla bean paste. Adjust honey to taste. If the mixture is too sweet, add a little more yogurt. If not sweet enough, stir in a little more honey.
Transfer the mixture to a piping bag fitted with a star or round tip or a large ziploc bag with a small corner snipped off.
Pipe little rounds on the prepared baking sheet. Alternatively, you can also pipe or spoon the yogurt into small silicone molds to make desired shapes.
Freeze the yogurt until frozen through, 3 hours to overnight. Transfer to a freezer-safe bag.
Serve the drops immediately from the freezer. They will melt quickly.