Mix 2 egg yolks with 1/3 cup of sugar in a mixing bowl. Boil 2 cups of milk in a medium saucepan and medium heat. Pour milk into mixing bowl and mix with a hand mixer.
Pour mixture into your saucepan and cook on medium-low heat till thickened; it should look like melted ice cream. Pour into a bowl then add in food gel and stir. Let cool in the refrigerator for 15 minutes.
After cooling add 1 1/2 tsp of vanilla extract. Mix well and pour into the ice cream molds. Freeze overnight.
Notes
Number of servings can vary according to the size of your ice pop molds.