1. Combine the first 5 ingredients (through orange zest) in a blender or food processor; process until blended. Refrigerate at least 20 minutes or until mixture sets.
2. Thread fruit alternately onto skewers, using 2 pieces of each fruit per skewer. Place skewers in a single layer on a small rimmed baking sheet. Freeze at least 1 hour or until fruit is frozen through. (Once frozen, skewers can be placed in a resealable zip-top plastic bag and kept in the freezer for up to 2 weeks.)
3. Thaw fruit about 15 minutes before serving. Serve with dip.
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