In a small saucepan, combine pears, lemon juice, cinnamon stick, cloves, ginger, and apple juice. Bring to a boil, reduce heat to low, and simmer for about 4 minutes until pears are crisp-tender. Transfer to a bowl and let cool to room temperature.
Remove cinnamon stick and cloves before assembling the parfait.
In a large bowl, whip cream to soft peaks. In a separate bowl, mix mascarpone with vanilla and maple syrup and fold into cream.
Divide half the pears between 4 glasses and top with half the mascarpone mixture. Repeat layers with remaining pears and cream, and garnish with candied ginger and ginger cookies.