Core pears; cut each in half lengthwise. Combine honey and orange juice; brush some of the honey mixture over cut surfaces of pear halves, reserving remaining honey mixture.
Coat grill rack with cooking spray; place on grill over medium-hot coals (350° to 400°). Place pears on rack; grill, covered, 4 to 5 minutes on each side or until tender, basting occasionally with remaining honey mixture. While pears grill, spoon raspberry jam into a small saucepan; cook over low heat, stirring constantly, until melted.
Place hot or room temperature pear halves onto 6 individual plates. Top each with 2 tablespoons melted raspberry jam and 1/4 cup frozen yogurt.