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1. In a medium saucepan, bring cranberry juice to a simmer. Add pears, split vanilla bean, stick cinnamon, and pepper. Return to a simmer; cover and cook for 10 minutes. Remove from heat. Add cranberries. Let stand, covered, for 1 hour, turning pears once.
2. Remove vanilla bean and scrape seeds into a small bowl; stir in yogurt and honey.
3. Divide cooking liquid among six individual dessert dishes. Add a pear half to each. Top with yogurt mixture. Makes 6 servings.