Bring the Rosehip iced tea, sugar and spices to a boil. Add the mandarins and simmer for 4 – 6 minutes or until firm. Remove with slotted spoon and set aside. Bring the poaching liquid to the boil and reduce for about 10 minutes or until it starts to form a syrup. Mix yoghurt and vanilla paste together. Pour the syrup over the mandarins and serve with the vanilla yoghurt drizzled with honey.