You would have to tweak this recipe by adding and deleting certain things, because it's not precisely what you asked for.

Orange Bavarian Cream Parfait
Provided by: Dole Food Company

Beautiful parfaits made with an orange flavored Bavarian cream layered with mandarin oranges. A stunning individual dessert that is a snap to make.
Yields 8 servings

2 (6 ounce) containers orange yogurt
1 (3.4 ounce) package instant vanilla pudding mix
1/4 cup powdered sugar
1 (8 ounce) tub frozen non-dairy whipped topping, thawed
1/2 teaspoon orange or vanilla extract
1 cup vanilla wafer crumbs
3 (11 ounce) cans DOLE® Mandarin Oranges, drained

Beat together yogurt and vanilla pudding mix for 30 seconds, until moistened. Fold in powdered sugar and whipped topping until blended. Reserve 1 tablespoon vanilla crumbs and 8 mandarin oranges for topping.

Layer in dessert glasses, vanilla crumbs, mandarin oranges and Bavarian cream; repeat layering. Sprinkle reserved crumbs over parfaits and top with reserved mandarin oranges.