Drain apricots, reserving juice. Slice apricots; set aside. In a saucepan, combine 1/3 cup orange juice, brown sugar and reserved apricot juice; bring to a boil. Reduce heat; simmer, uncovered, for 10 minutes. Combine cornstarch and remaining orange juice until smooth; stir into apricot juice mixture. Bring to a boil; cook and stir for 2 minutes or until thickened. Stir in vanilla and reserved apricots. Serve over frozen yogurt.