Peel the oranges, remove pith and slice into 3 mm thick slices.
Beat the condensed milk, orange zest, peach and lemon juice together.
Fold the condensed milk mixture into the yoghurt in a mixing bowl.
Cover and refrigerate for 30 minutes or until set to a creamy pudding.
Serve orange slices topped with a dollop of the yoghurt pudding and decorated with extra orange zest and mint leaves.