Add the orange juice, heavy cream, maple syrup, and vanilla extract to a measuring cup or mixing bowl.
Whisk until the mixture is smooth and fully combined.
Taste and add a little more maple syrup if you prefer a sweeter creamsicle.
Pour the mixture evenly into popsicle molds, leaving a little space at the top for expansion.
Insert popsicle sticks and freeze for 6 hours, or until completely firm.
To unmold, run the outside of the popsicle molds under warm water for a few seconds, then gently pull out the creamsicles.
Serve frozen and enjoy right away.
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