To make the caramel: heat coconut sugar, water and salt on the stove over a medium heat. Allow to boil for 3-5 minutes before removing. Let caramel cool for a couple of minutes before stirring through peanuts.
Scoop salted caramel coconut yoghurt into a piping bag. In a popsicle mould, alternate piping the coconut yoghurt with a coconut caramel and peanut later. Place lid on the mould before inserting paddle pop sticks into each ice cream. Freeze for four hours, or overnight.
Run the mould under warm water for a few minutes to loosen popsicles. Pop out and enjoy, or keep in an air tight container in the freezer.