1. Preheat grill.
2. Place pineapple slices on baking tray and drizzle honey evenly over slices.
3. Sprinkle brown sugar onto pineapple slices and place on grill over medium heat.
4. Cook about 10 minutes, turning slices occasionally, until browned on both sides.
5. In a bowl, combine yogurt and Madeira.
6. Serve with previously grilled pineapple.