Beat pudding mix and milk in medium bowl with whisk 2 min. Stir in COOL WHIP. Refrigerate until ready to use.
Place pear halves, cut sides up, in microwaveable 2-qt. casserole.
Mix apple juice, agave syrup and cinnamon until blended; pour over pears. Cover with waxed paper.
Microwave on HIGH 6 to 8 min. or until pears are tender; cool 5 min.
Serve topped with pudding mixture, nuts and cranberries.