To the best of my knowledge you can't make that at home with-out the right equpiment and recipe. They use huge tumblers (which you can buy for a Kitchen Aid mixers) to coat candy products. BUT, I've never seen a recipe for a firm coating like they do so they don't stick to each other. I think that's a trade secret for each candy company.
You'd have more luck making raisin clusters and finding a recipe you like that adds the sweetness taste you crave. Perhaps a simple fondant would please you..... for that, any candy book has fondant recipes.
HTH
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"Bakers are born, not made. We are exacting people who delight in submitting ourselves to rules and formulas if it means achieving repeatable perfection", Rose Levy Beranbaum | 
yoghurt coating??? 
