Make base layer. Add the cinnamon crackers, melted coconut oil, and pitted dates to a food processor and pulse until a dense sandy mixture forms and there are no large chunks.
Press into pan. Transfer the mixture to the bottom of a parchment paper lined 8x8 inch pan. Pack it down with the bottom of a cup until an even layer forms. Place in fridge while you make the filling.
Make yogurt layer. Add the yogurt, orange zest, orange juice, maple syrup, and vanilla extract to a blender. Blend until smooth.
Add filling. Pour the filling over the slightly chilled crust, smoothing it into an even layer.
Freeze. Freeze for 30 minutes, then lightly press the orange segments into the yogurt layer. Place back in the freezer for 1 ½ more hours or until the yogurt is frozen solid.
Cut and store. Remove the bars from the pan using the parchment paper overhang. Cut the bars into squares and store in the freezer in an airtight container until ready to enjoy!