Combine water and honey in a large nonstick skillet; stir with a wire whisk until blended. Add cinnamon sticks. Arrange pear halves, cut sides down, in a single layer in skillet; bring to a simmer over medium-low heat. Cook 10 minutes, basting occasionally with cooking liquid. Turn pears over; cook 10 minutes, basting occasionally. Turn pears over, and cook an additional 10 minutes or until tender, basting occasionally. Remove pears from skillet with a slotted spoon, and place 2 pear halves in each of 4 individual dessert dishes; set aside, and keep warm.
Bring cooking liquid to a boil over high heat, and cook 7 minutes or until reduced to 1/2 cup. Discard cinnamon sticks. Spoon 2 tablespoons cooking liquid over each serving, and top each with 2 tablespoons Vanilla-Honey Yogurt Sauce.