For the sorbet, heat the juice and the zest, the water and the sugar, until very hot, while stirring, until the sugar has dissolved. Do not boil or it will get bitter!
Remove the syrup from the heat and pour into a container that fits into the freezer. Leave the syrup to cool on the countertop and then place in the freezer. After 30 minutes, scrape along the edges with a spoon in order to release the ice crystals and stir well. Repeat this every hour until the right consistency is achieved, which will take 4 to 5 hours, depending on your freezer.
You can also churn the sorbet in an ice-cream maker, if you own one. In this case, you will make the sorbet in approx. 30 minutes.
In the meantime prepare the compote. Put an orange on the chopping board. Using a sharp knife, peel away the orange and white peel, from top to bottom. Proceed until the entire orange is peeled.
Cut away the pulp between the sections over a bowl, the released juice will therefore be collected in the bowl. Repeat for all oranges and grapefruit.
In a saucepan, heat the water, sugar and lemon juice and the collected juice. Using a sharp knife, scrape the vanilla from the bean and add it to the mixture. Also add the empty bean, and remove it later. Bring the mixture to a boil. Then lower the heat and simmer until you have a syrup. This will take approx. 7 minutes. Add the orange sections and liqueur and leave the compote to cool until used.
To serve, place a scoop of ice cream in a tall glass and add the compote.
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