Grilled Fruit Skewers with Sweet Yogurt Sauce

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4 (10-inch) skewers

1/2 cup brown sugar

1/4 cup water

1 teaspoon ground cinnamon

1/2 orange, juiced, plus remaining half zested, reserved from Chicken Satay recipe

1 (20-ounce) can pineapple chucks, reserve the juice and 4 pieces for cocktail

2 nectarines, cut into 1-inch chucks

1 mango, peeled, flesh cut into 1-inch chucks

1 (8-ounce) container vanilla yogurt