Baked Oatmeal with Pears

Name: Baked Oatmeal with Pears
Ingredients: 2 cups old-fashioned oats (see Tip); ½ cup walnuts, chopped; 2 teaspoons ground cinnamon; 1 teaspoon baking powder; ¾ teaspoon salt; ¼ teaspoon ground nutmeg; ⅛ teaspoon ground cloves; 2 cups unsweetened almond milk or 2% milk; 1 cup low-fat plain Greek yogurt (Optional); ¼ cup pure maple syrup; 2 tablespoons extra-virgin olive oil; 1 teaspoon vanilla extract; 2 pears, diced small (about 2 cups; see Tip); ⅓ cup low-fat plain Greek yogurt (Optional)