Place the water, caster sugar, lemon juice and cinnamon stick into a saucepan. Bring to the boil and allow to simmer for 5 minutes. Leave to cool in the saucepan. This is the poaching syrup.
Peel and core the pears. Cut them in half and place them in the poaching syrup. Cook on a gentle heat for about 15 minutes until the pears are soft. Drain the pears and then puree until smooth. Allow to cool completely.
Bring the honey to the boil in a small saucepan. At the same time, in a bowl, whisk the eggs and sugar together until frothy. Add the honey to the egg and sugar mixture, whipping constantly until the mixture has cooled to room temperature.
Stir the egg mixture into the yogurt together with the cooled pear puree.
Pour the mixture into a large bowl and place in the freezer.
After an hour, when ice crystals begin to form around the sides of the bowl, beat with a whisk until the mixture is smooth again.
Repeat this process twice more then allow to freeze completely