Stir yogurt, berries, 2 teaspoons maple syrup and vanilla together in a medium bowl. Divide among six 3-ounce popsicle molds. Stir granola and the remaining 2 teaspoons maple syrup together in a small bowl. Top each popsicle with 1 tablespoon of the granola mixture. Insert popsicle sticks and freeze overnight.
To make ahead: Store popsicles in the freezer for up to 1 week.