Heat 3 inches of vegetable oil in a Dutch oven to 325 degrees F.
Meanwhile, mix together the yogurt, honey and vanilla in a medium bowl and set aside.
Separate 5 rounds of biscuit dough and cut the edges off to form squares. Cut each square into 4 so you have a total of 20 small squares. (Reserve the remaining biscuits for another use.)
Combine the sugar and cinnamon in a medium bowl.
In batches, fry the dough squares in the hot oil until golden brown, 2 to 3 minutes. Transfer to the cinnamon sugar and toss to coat. Remove to a paper towel-lined plate.
Evenly distribute the doughnuts, strawberries, blackberries, mango and kiwi among six 12-inch skewers (you will have 2 additional doughnuts). Serve alongside the honey-yogurt dipping sauce.
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