Preheat oven to 400°.
Place pears in a 13 x 9-inch baking dish coated with cooking spray; dot with butter.
Combine cider, honey, juice, and vanilla in a small saucepan. Bring to a boil, and pour over the pear mixture. Cover and bake the mixture at 400° for 20 minutes. Uncover and bake an additional 30 minutes or until the pears are tender, basting occasionally. Remove from oven, and let stand for 10 minutes. Serve warm with Sweet Yogurt Cream.