Line a small tray with parchment paper or prepare a silicone mini-muffin mold.
Add blueberries, water, and lemon juice to a small saucepan.
Cook over medium-low heat for 5–7 minutes, pressing some berries gently until they form a thick sauce.
Allow the blueberry sauce to cool for several minutes.
Stir Greek yogurt, honey or maple syrup, and vanilla until smooth.
Spoon about 1 tablespoon of yogurt into each prepared portion.
Add a small amount of cooled blueberry sauce to each yogurt portion.
Use a spoon tip or toothpick to make 2–3 gentle swirls through each bite.
Freeze for at least 2 hours, or until firm.
Let the bites sit at room temperature for 2–3 minutes before removing and serving.
Store leftovers in an airtight freezer-safe container for up to 2 weeks.