Line a 24 mini-muffin tin with paper liners. In a medium bowl, whisk yogurt with milk and agave. Pour a small amount of yogurt mixture into each liner. Top yogurt with a piece of fruit, alternating between each type. Fill yogurt cups with remaining yogurt mixture and top with another piece of fruit.
Freeze until solid, at least 2 hrs, and up to one week, covered. Remove frozen yogurt bites from freezer, peel off the cupcake liner, and serve frozen.