Add the confectioners' sugar to a plastic bag along with a small amount of water; mix until smooth. Add more water if necessary, it is better to start off with not enough. Seal the bag and put it aside until needed.
Preheat the pie iron.
Make a peanut butter and jelly sandwich using the bread, raspberry jam, and peanut butter.
Toast the sandwich over the coals in the pie iron until golden brown on both sides, then carefully remove it from the pie iron.
Cut a small piece off the corner of the bag. Drizzle the icing back and forth to create a pattern reminiscent of commercial pop tarts. Careful: Check the temperature of the jam in the center of the camping pop tart before eating so you don’t burn your mouth.