Preheat oven to 180°C. Drain the pear slices, reserving ¼ cup (60ml) juice. Combine the pear, blueberries, sugar and vanilla in a large bowl.
Divide the fruit mixture evenly among four 1-cup (250ml) ovenproof dishes. Drizzle with the reserved pear juice. Place the dishes on a baking tray.
To make the topping, sift flour and cinnamon into a medium bowl, returning any solids remaining in the sieve to bowl. Add the sugar, egg, oil and milk and stir to combine. Spoon over the fruit mixture in the dishes.
Bake for 20-25 minutes or until the topping is golden brown. Set aside to cool slightly.
Serve the cobblers warm with yoghurt.