Cut the lemons in half and, with the help of a juicer, extract all their juice. Strain so that there are no impurities and weigh 80ml of lemon juice.
Assemble the cream with the help of rods. The cream will have to be very cold and the optimum is to use a metal container that has also been in the fridge previously. The easiest thing is to use electric rods so that he rides faster, being careful not to overdo it and make butter. When the cream begins to take shape add the icing sugar and continue beating until it acquires a firm texture. Take to the fridge and set aside.
Mix the condensed milk with the yogurt and the lemon juice, try and if it is too acidic add a little more sugar, stirring well so that it dissolves.
Incorporate the whipped cream into the mixture, with enveloping movements so that it integrates well but does not lose air.
Put the mixture in molds for poles and put in the freezer, after 15 minutes (or when it has taken a little consistency) include the sticks (wooden or plastic) inside the pole and let cool completely to harden well. When they are unmold to enjoy, you can grate a little more lemon peel.
It is a good idea to spread the molds lightly with a little butter and then unmold the poles well, without problems. The perfect thing will be to slightly heat the mold on the outside in hot water to avoid having to pull the stick with the risk of keeping it in your hand.