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In advance: Mold lollipops following package directions using melted candy in various colors (add pink candy color to white candy for pink shown) and 6 in. lollipop sticks. Refrigerate until firm; unmold.
Set lollipops on waxed paper-covered board; figure pipe kids using royal icing. Let dry. Wrap craft squares in foil; insert lollipops.
Combine Lemon Yellow with Golden Yellow for yellow icing shown.