1. Combine 3 1/4 cups ice cream, orange juice concentrate, and next 3 ingredients (through yellow food coloring) in a large bowl, stirring until colors blend. Beat whipping cream with a mixer at high speed until soft peaks form; fold in vanilla. Fold whipped cream mixture into 1 1/4 cups vanilla ice cream.
2. Divide half of orange-flavored ice cream among 20 (2-ounce) ice pop molds. Top with lid. Freeze 30 minutes or until set. Uncover and top each serving with vanilla ice cream mixture; top with lid. Insert a craft stick into center of each mold; freeze 45 minutes or until set. Uncover and top each serving with remaining orange-flavored ice cream. Freeze at least 4 hours or until thoroughly frozen.