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If you are using wooden skewers, soak them in water for at least 30 minutes.
In a small pot combine the brown sugar with 1/4 cup water, cinnamon and orange zest. Bring to a boil over medium heat. Remove from heat and set aside to cool to room temperature.
When ready to cook, start the Traeger grill on Smoke with the lid open until the fire is established (4 to 5 minutes). Set the temperature to 275 degrees F and preheat, lid closed, for 10 minutes.
Thread 2 pieces of each type of fruit onto each skewer.
Grill the skewers until the fruit is warm and lightly charred about 6 minutes giving the skewers a quarter turn every 1 1/2 minutes.
Make sure to brush with the brown sugar syrup after each turn.
While the fruit is grilling, make the dipping sauce. Whisk together the yogurt, orange juice, and 1 tablespoon of the brown sugar syrup in a serving bowl.
Arrange the skewers on a serving platter and serve with the dipping sauce on the side. Enjoy!