This paper revisits NDN deployment in the IoT with a special focus on the interaction of sensors \em and actuators. Such scenarios require high responsiveness and limited control state at the constrained nodes. We argue that the NDN request-response pattern which prevents data push is vital for IoT networks. We contribute HoP-and-Pull (HoPP), a robust publish-subscribe scheme for typical IoT scenarios that targets IoT networks consisting of hundreds of resource constrained devices at intermittent connectivity. Our approach limits the FIB tables to a minimum and naturally supports mobility, temporary network partitioning, data aggregation and near real-time reactivity. We experimentally evaluate the protocol in a real-world deployment using the IoT-Lab testbed with varying numbers of constrained devices, each interconnected via IEEE 802.15.4 wireless LoWPANs. Implementations are built on CCN-lite with RIOT and support experiments using various single- and multi-hop scenarios.