Yes Popsicles are healthier than ice cream because Popsicles are lower in calories and lower in fat content than ice cream.
So you would be better off eat a lot of Popsicles than you would be when eating ice cream.
When you eat a lot of ice cream overtime you can gain a lot of weight eating the ice cream.
But with Popsicles you can eat a lot more of those and still never really put on much if any weight.
If you're on a weight loss diet or just trying to keep your weight down and want a nice cool treat then the Popsicles would be much better for you than ice cream.
Still both Popsicles and ice cream are healthy in moderation but there are no real health benefits other than the milk contained in ice cream that builds up strong bones.