Notes: You can make the vanilla-orange yogurt (step 1) up to 3 days ahead; cover and chill.
Spoon yogurt into a bowl. Scrape seeds from vanilla bean into yogurt (reserve pod for other uses). Stir in orange juice concentrate and honey until well blended.
Peel and core pears; cut lengthwise into 1-inch-thick slices. Arrange pears and dates in bowls and top each with about 1/4 cup vanilla-orange yogurt.
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