Line a mini muffin tin with mini cupcake liners and set aside.
Mix together the yogurt and milk in a bowl until well combined.
Fill the liners halfway with the yogurt mixture. Place a blueberry in each one. Top the bites with the remaining yogurt mixture. Top half of the bites with a strawberry slice and half with a kiwi slice. Freeze, uncovered, until firm, 2 to 3 hours. Serve or transfer to a freezer-proof container. The bites can be stored for up to one week.
Let sit out of the freezer 5 minutes before peeling off the paper and eating.