Add contents of cans of pear halves to medium saucepot over medium-high heat. Add cinnamon, ginger and cloves; bring liquid to simmer. Reduce heat to medium-low. Simmer until spices are fragrant and flavors begin to seep into pears, about 15 minutes. Turn off heat.
Stir in raisins and vanilla; cover pot. Let sit until raisins are plump, about 20 minutes more.
To serve, transfer one pear half and 1 tbsp. raisins to serving dish. Top fruit with 1 tbsp. spiced syrup. Serve with frozen yogurt, if desired.
Serving: 1 pear half, 1 tbsp. raisins, 1 tbsp. syrup and ½ cup frozen yogurt.