Rinse quinoa in a sieve under cold water. Transfer to a small saucepan. Add oat milk and 2 teaspoons maple syrup. Bring to a simmer over a medium heat.
Reduce heat to low. Simmer for about 30 minutes, or until thick, stirring occasionally. Remove from heat. Stir in half the yoghurt.
Meanwhile, add the remaining 2 teaspoons maple syrup and 2/3 cup water to a medium frying pan. Bring to a simmer. Add pear wedges in a single layer. Simmer, uncovered for 5 minutes. Turn pear and simmer for a further 5 minutes, or until liquid has evaporated and pear is glazed and tender.
Divide creamed quinoa and pears between 4 small bowls. Serve with remaining yoghurt. Sprinkle with cinnamon.

Oat milk is available from the long life milk aisle in supermarkets. Substitute almond or soy milk, if preferred. Any dairy-free, vanilla-flavoured yoghurt can be used in place of the almond yoghurt. Use regular milk and yoghurt for a non-vegan version.