A molecule has a dipole moment if the centers of the positive and negative charges do not coincide. This can occur if the molecule has a permanent separation of charge, such as in a polar covalent bond, or if the molecule has a distorted electron cloud, such as in a molecule with lone pairs of electrons.

Of the given molecules, CO2 and BF3 are nonpolar molecules, meaning they do not have a dipole moment. This is because the electronegativity of carbon and oxygen atoms in CO2 is almost the same, resulting in a symmetrical distribution of electrons around the molecule. Similarly, the electronegativity of boron and fluorine atoms in BF3 is also almost the same, leading to a symmetrical electron distribution.

H2, F2, and SO2 are polar molecules and have dipole moments. In H2, the electronegativity of hydrogen atoms is slightly different, causing a slight imbalance in the electron distribution, resulting in a dipole moment. In F2, the electronegativity of fluorine atoms creates a significant difference in electron distribution, resulting in a significant dipole moment. In SO2, the electronegativity of oxygen and sulfur atoms leads to a distorted electron cloud, creating a dipole moment.

Therefore, the molecules with a dipole moment are: H2, F2, and SO2.