In a 12-inch skillet, cook the strawberries, sugar, lemon zest and orange zest over medium-high heat, thoroughly crushing the berries with a potato masher or the back of a large fork until the juices have released and the sugar has dissolved, about 2 minutes. In a small bowl, stir together the orange juice and cornstarch. Stir the orange juice mixture into the strawberry mixture. Bring the entire mixture to a boil, stirring until the mixture has thickened, about 1 minute. Transfer the mixture to a bowl and cool to room temperature. Cover and refrigerate until ready to use. (Can be made up to one day in advance).

Preheat the oven to 375ºF with the rack in the middle. Butter and flour two 8-inch baking pans, then line with parchment paper with sides over hanging for easy release. In a medium bowl, whisk together the flour, baking powder, baking soda, salt, and cinnamon; set aside. In the bowl of a stand mixer fitted with the paddle attachment, cream the butter and brown sugar at medium-high speed until light and fluffy, about 3 minutes. Beat in the egg and vanilla. Reduce the speed and add the flour mixture in two batches, mixing just until combined. Evenly divide the batter between the prepared pans, spreading with an offset spatula. Bake until golden brown but still tender, about 10-12 minutes. Cool completely in the pans for least 1 hour.

Keeping one sandwich layer in the pan, dollop half the strawberry compote over the base. Spoon all of the softened frozen yogurt over the strawberry and spread evenly using an offset spatula. Dollop the remaining strawberry compote over the yogurt. Using the parchment overhang, carefully remove the second sandwich layer from the pan. Invert the layer over the strawberry and yogurt, pressing gently to form and even sandwich. Fold parchment overhang over the sandwich and wrap baking pan in plastic wrap and freeze for at least 4 hours, preferably overnight.

When ready to serve, remove plastic wrap and unfold parchment. Using parchment, transfer the sandwich to a cutting board. Trim edges if desired, then cut into bars.   Ice cream sandwich (before cutting) can be made one week in advance wrapped in plastic wrap and then in foil. Enjoy!