Soak 4 wooden skewers in water for 30 minutes to prevent them from burning during cooking. Preheat the grill or barbecue.
Place the prepared fruit in a bowl and stir in the lime zest and juice, honey and sesame seeds. Thread the fruit onto skewers then grill or barbecue for a just 2-3 minutes, turning once. Serve with a dollop of natural yogurt.