Combine first 3 ingredients in a Dutch oven; bring to a boil. Cover, reduce heat, and simmer 20 minutes, stirring occasionally.
Insert cloves into rinds of orange quarters. Add pineapple juice, orange juice, and sweetener to apple juice mixture; stir well. Add orange quarters. Cook 5 minutes or until mixture is thoroughly heated. (Do not boil.)
Remove and discard orange quarters and cinnamon stick. Serve warm. If desired, garnish with orange slices or cinnamon sticks.