In a small bowl, whisk together yogurt, 1 teaspoon orange zest and 3 tablespoons agave syrup. Set aside.
In a blender or NutriBullet, blend peaches, orange juice and 1 teaspoon agave syrup until smooth. (If you like a little texture, you can pulse the blender and leave the peaches slightly chunky.) Set aside.
In another small bowl, slightly smash berries with remaining 2 teaspoons agave syrup. Let sit to macerate.
Fill your molds by layers: Spoon a little peach mixture into the bottom of each ice pop mold and top with a small spoonful of berries. Let it semi-freeze (about 30 minutes—do a status check at 20 minutes) and add a stick to each pop once peach and berry mix is solid enough to hold it upright. Let mixture freeze solid.
Divide yogurt mixture in half and spoon one-half into the molds evenly around the sticks. Tap molds lightly to settle the mixture. Freeze until solid (about 1 hour).
Add a second layer of peach mixture and berries and freeze until solid.
Repeat steps with yogurt and remaining peach mixture and berries until molds are full. Once molds are filled, they should be given at least 4 hours to freeze solid before unmolding.
Set molds in hot water for 15 to 30 seconds to loosen pops. Then unmold ice pops.