1Heat oven to 400°F. Grease and flour 9-inch round cake pan. Cut pear halves into thin slices.
2In medium bowl, stir together Bisquick® mix, sugar, milk and margarine. Pour into pan. Arrange pear slices in circular pattern on batter; sprinkle with cinnamon.
3Bake about 40 minutes or until golden brown and toothpick inserted in center comes out clean. Top each serving with yogurt.