Place pears with orange juice, cinnamon stick and honey into a saucepan. Bring to a simmer, and then cook uncovered for 15 minutes, until pears are tender. Cool and remove cinnamon stick.
While pears are cooling down, place quinoa and milk in a saucepan and bring to a simmer, stirring occasionally. Simmer for 10 minutes, uncovered, stirring occasionally. Add fruit medley and continue simmering for 5 minutes. Stir through sugar.