sugar free popsicles??

Is there any way to make sugar free Popsicles at home like the ones you get at the grocery store?  I know how to make homemade Popsicles that are just like store bought ones but when I use sugar free ingredients they come out with the texture of an ice cube. 
The regular ones have sugar, kool ade and jello in them but Splenda, while it tastes great, doesn't give that terrific texture of store bought.
 

I found this one on the internet. I think I will give it a try..

Karen Bentley's Recipe for Fruity Yogurt Pops
(From the Sugar-Free Miracle Diet Cookbook - Snack Collection)
Serves:  8

Ingredients:
2 cups plain, sugar-free Greek yogurt (low-fat is okay, but be sure there's no sugar in it.  Most low-fat products are made with caloric sweeteners.)
2 cups frozen berries (mixed or dark berries are best because they have the most flavor)
1/2 cup sucralose (Splenda) or non-caloric sweetener of your choice
2 teaspoons sugar-free vanilla

Directions:
Get your popsicle molds and sticks ready.  Or, alternatively, use 8 four-ounce paper cups as molds with large toothpicks.  Put the frozen fruit and sucralose in a food processor and process for 1 or 2 minutes until the berries have a granular consistency.  Stop the processor.  Add vanilla and yogurt.  Process again until a smooth and creamy consistency is achieved, about 1 minute.  Pour into popsicle molds.  Freeze.  Eat.  Enjoy.