Caramelize 6 tablespoons of sugar in a small pan until golden. Stir in sesame seeds, spread immediately on a piece of baking paper. Let it cool down.
Wash and halve the grapes. Mix honey and lemon juice. Mix with the grapes and leave to stand.
Bring orange juice, vanilla sugar and 4 tablespoons of sugar to the boil in a saucepan. Stir in semolina (so that the semolina does not burn and form lumps, stir vigorously with a whisk when sprinkling). Bring to the boil while stirring and simmer at low heat for about 1 minute. Remove from the heat, cover and allow to swell for about 20 minutes and cool.
2⁄3 Fold yogurt under the semolina. Pour semolina into four dessert glasses. Spread the rest of the yoghurt and grapes on top. Divide sesame brittle into pieces. Decorate desserts with sesame brittle.