In a food processor or blender, whizz together the bananas, yogurt and honey until smooth. Pour into 4 lolly moulds and freeze for at least 4 hours, until set.
Put the chocolate in a small microwave-safe bowl and microwave on medium for 2-3 minutes, stirring halfway through, until melted.
Dip the moulds in hot water for 30 seconds to remove the lollies, then dip the tips of the lollies into the melted chocolate. Place on a baking tray lined with a sheet of baking paper and return to the freezer for 10 minutes, until the chocolate is set.