Strain pear nectar through a fine sieve over a small bowl, and discard solids. Sprinkle gelatin over strained pear nectar, and let stand 1 minute.
Place milk in a medium saucepan; stir in gelatin mixture. Cook over medium-low heat until gelatin dissolves, stirring constantly. Pour evenly into 8 (4-ounce) ramekins or muffin cups coated with cooking spray. Chill 2 hours or until set.
Preheat oven to 400°.
Combine cherries and the next 4 ingredients (cherries through peaches) in a 13 x 9-inch baking dish coated with cooking spray, tossing to coat. Bake at 400° for 20 minutes or until tender, stirring once. Cool.
Loosen edges of panna cottas with a knife or rubber spatula. Place a dessert plate, upside down, on top of each ramekin; invert onto plates. Spoon about 1/2 cup roasted fruit around each panna cotta. Sprinkle each serving with 2 tablespoons cheese.