Poached Oranges and Satsumas in Rosemary-Clove Syrup

Serves 4

1/3 cup light brown sugar
1/3 cup water
1 teaspoon orange zest
1 teaspoon fresh whole rosemary leaves
4 whole cloves
3 large navel oranges, peel and white pith removed, cut into supremes
3 satsumas or tangerines, peel and white pith removed, cut into supremes
1 tablespoon orange liqueur
1 store-bought angel food cake
1 quart low-fat frozen yogurt
4 sprigs rosemary, as garnish

In a heavy saucepan, combine the sugar and water. Bring to a boil over medium-high heat, stirring until the sugar dissolves. Reduce the heat to medium-low and simmer for 10 minutes. Add the zest, rosemary, and cloves. Simmer until the flavors are blended, about 5 minutes. Pour the syrup over the orange segments and toss. Refrigerate until well chilled, about 4 hours.
Sprinkle with orange liqueur. Place 1 slice of angel food cake in the bottom of 4 martini glasses. Top with 1 scoop frozen yogurt. Top with the oranges and garnish with a sprig of rosemary.