In a saucepan large enough to hold all the pears, combine water, piloncillo, cinnamon stick, and cloves. Bring to a boil, reduce heat and simmer until piloncillo melts.
Cut the pears in half vertically. Using a measuring spoon or melon baller, scoop out the seeds.
Add the pears and simmer for 10 to 15 minutes, turning occasionally, until the pears are tender.
Place each pear on a small serving plate with a scoop of yoghurt. Drizzle with the syrup and sprinkle with ground cinnamon.
Serve immediately.
Notes
There are many yoghurt options out there for this recipe but I like Mountain High! A no-fuss yoghurt made with quality ingredients and the plain one is unsweetened!