Wash, cut and seed peaches or nectarines. Gently heat the juice and peel of the orange with half the honey in a pot. Set aside, place the fruit in it and marinate in the orange honey for at least 30 minutes.
Turn in half the time.
Meanwhile, mix the yoghurt with the remaining honey. Coarsely chop the nuts.
Grill the peaches over low heat from both sides until they have acquired a beautiful colour all around. Place them on a plate and pour the remaining orange honey over them. Add yoghurt and nuts.
Sprinkle with icing sugar and serve immediately.