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Preheat oven to 375°.
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To prepare filling, combine the first 6 ingredients, including orange zest (not juice). Spoon into a 13 x 9–inch baking dish coated with cooking spray.
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To prepare topping, combine flour and next 4 ingredients (through salt) in a medium bowl; cut in butter with a pastry blender or 2 knives until mixture is crumbly. Sprinkle topping over filling. Bake at 375° for 30 minutes or until bubbly. Let stand 10 minutes.
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While the crisp is baking mix together plain yogurt with 2 Tbsp orange juice and a drizzle of honey. Chill until ready to serve. Serve a scoop of warm crisp with about ¼ cup yogurt mixture.