Step 1: Add boiling water to jelly powder in medium bowl; stir 2 min. until completely dissolved. Cool slightly. Gradually add orange juice and jelly powder to ice cream in large bowl, beating with mixer after each addition until blended.
Step 2: Insert wooden pop stick into centre of each marshmallow.
Step 3: Place marshmallow-end down, in each of 12 (5-oz.) paper or plastic cups. Spoon about 1 tablespoon jelly mixture into each cup; freeze 30 min. or until slightly firm. Meanwhile, refrigerate remaining jelly mixture until ready to use.
Step 4: Pour remaining jelly mixture into cups; freeze 4 hours or until firm.
Step 5: Remove pops from cups before serving.
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