Slice the oranges in half horizontally. Carefully hollow out the inside of each half with a spoon taking care not to poke any holes in the orange peel.
In a bowl, combine the muffin mix and the appropriate amount of milk, non-dairy milk, or water recommended by the muffin mix instructions and stir well.
Fill the bottom half of each orange with muffin batter to the rim.
Place the top half of each orange over the filled bottom half and wrap securely in aluminum foil.
Place wrapped oranges filled with muffin batter in the embers of a campfire, close to the flame but not touching it.
Bake for 10-15 minutes, depending on the heat of the fire. Rotate every 5 minutes for even cooking.
Use long-handled tongs to remove oranges from the fire and let them cool for 5 minutes before unwrapping the foil. Enjoy!