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Put the gelatine in a small bowl of cold water, leave to soak for five minutes, until softened, then drain, squeeze out any excess water and set aside.
Put the cream, honey, vanilla and salt in a small pan and heat gently until hot, but not boiling.
Off the heat, stir in the squeezed gelatine until completely dissolved.
Whisk in the yoghurt, then pour the mixture into four small glasses or ramekins, and chill in the fridge for a couple of hours, until set.
Meanwhile, make the crumble.
Heat the oven to 190C (170C fan)/375F/gas mark 5 and line a small baking tray with greaseproof paper.
Put the oats, flour, sugar, sesame seeds, salt and cinnamon in a bowl and mix to combine.
Stir in the melted butter and tahini, then mix well to coat.
Pour on to the lined tray, then bake for 18-22 minutes, until well browned.
Remove, leave to cool completely, then break up the crumble into rough pieces.
Put the honey and two tablespoons of water in a small pan and heat gently.
Add the sliced bananas, cook until they soften a little and the liquid turns syrupy, then take off the heat and leave to cool a little.
Spoon the warm bananas on top of the panna cottas, top with some of the tahini crumble and serve.