Core pears from the bottom, leaving stems intact. Peel pears. Cut 1/4 in. from bottom to level if necessary. In a 2-qt. microwave-safe dish, combine the brown sugar, butter, cinnamon and cloves; top with pears.
Cover and microwave on high for 10-12 minutes or until pears are tender. Remove pears to dessert plates. Discard cloves. Whisk frozen yogurt into sauce until smooth. Spoon over pears. Serve warm or chilled.