Heat oven to 375° F.
Cut a thin slice from bottom of each pear half so that pears lie flat. Place in a 13 x 9 x 2-inch baking dish, cored-side up.
In small bowl combine Craisins, walnuts, brown sugar, lemon juice and zest. Spoon an equal amount of the mixture into each pear half.
Pour cranberry juice over pears and cover. Bake at 375° F for 30 minutes. Uncover and bake for an additional 15 minutes or until tender.
Serve warm with frozen yogurt.