Combine first 7 ingredients in heavy medium saucepan.
Bring to boil, stirring to dissolve sugar.
Add pears, reduce heat, cover and simmer until tender when pierced with knife, turning once, about 20 minutes.
Transfer pears to bowl using slotted spoon.
Cover and refrigerate until well chilled.
Boil poaching liquid until reduced to 1 cup plus 2 tablespoons, stirring occasionally, about 15 minutes.
Strain into bowl, pressing on solids. (Can be prepared 1 day ahead. Refrigerate pears and sauce separately.)
Rewarm sauce over medium low heat.
Stand pears on plates.
Place scoop of frozen yogurt next to each pear.
Drizzle sauce over pears and yogurt.
Serve with cookies.