1. Beat together yogurt and vanilla pudding mix for 30 seconds, until moistened. Fold in powdered sugar and whipped topping into pudding mixture until blended. Reserve 1 tbsp. vanilla crumbs and 8 mandarin oranges for topping.
2. Layer in dessert glasses; vanilla crumbs, mandarin oranges and bavarian cream; repeat layering. Sprinkle reserved crumbs over parfaits and top with reserved mandarin oranges.