Mix the yogurt, honey and sugar together and spread two thirds of it around the inside of a 1.2 litre (2 pint) pudding basin. Freeze until firm, approximately 2 hours, then spread the mixture over the sides again to even it out.
Grate the orange zest. Then, using a sharp knife, cut off the orange peel and pith, and segment the oranges. Whizz the pineapple, its juice, the roughly chopped orange, orange juice and zest together in a liquidiser.
Freeze in a container for about 3-4 hours, stirring once or twice to break up the ice crystals. When almost frozen, scoop it into the yogurt-lined basin and top with the remaining yogurt mixture. Freeze until firm — preferably overnight.
Put the dessert in the fridge for 45 minutes to an hour before serving. Dip the basin in boiling water for a second or two, then invert over a plate and lift it off.
If you're in a hurry make this dessert even more easily using ready-made ice cream or frozen sorbet.