South-of-the-Border Sundaes

Using zester, remove peel in long strips from 1 orange; reserve peel. Cut white pith from oranges. Working over bowl to collect juices and using small knife, cut between membranes of 1 orange to release segments. Transfer segments to large bowl. Squeeze juice from orange membranes into bowl with juices. Repeat with remaining oranges. Add pineapple and mango to orange segments. Combine 1/3 cup juice collected from oranges, reserved orange peel, brown, sugar and cinnamon in small saucepan. Stir over low heat until sugar dissolves. Increase heat and boil until mixture thickens slightly, about 1 minute. Discard peel. Mix syrup into fruit. (Can be made 4 hours ahead. Cover and chill.) Mix bananas into fruit. Scoop frozen yogurt into bowls. Spoon fruit mixture and juices over and serve.