STIR boiling juice into combined dry gelatin mix and sugar in medium bowl at least 2 min. until gelatin is completely dissolved. Add enough ice to cold juice to measure 2/3 cup. Add to gelatin; stir until slightly thickened. Remove and discard any unmelted ice.
ADD whipped topping to gelatin mixture; stir with wire whisk until well blended. Pour evenly into 6 (5-oz.) paper or plastic cups. Insert a wooden pop stick into each cup for handle.
FREEZE 5 hours or until firm. To remove pop from cup, place bottom of cup under warm running water for 15 sec. Press firmly on bottom of cup to release pop. (Do not twist or pull pop stick.) Cover and store leftover pops in freezer.