In a bowl, mix the yogurt with the mashed banana, honey, and cinnamon. Place in the freezer, stirring occasionally. Let freeze for 1 hour, but do not let it become completely solid.

Cut the peel into very thin strips. Place them in a small saucepan with the mandarin juice and sugar. Bring to a boil, then reduce the heat and simmer until the peel is soft and the liquid thickens into a light syrup.

Serve as needed. Remove the ice cream from the freezer about 15 minutes before serving to let it soften slightly.