Drain the blueberries. In a large skillet, heat the blueberries, 2 tablespoons maple syrup, and the balsamic vinegar over medium heat until the blueberries just start to break down and form a purple syrup, 4 to 8 minutes. Remove from the heat and allow to cool to room temperature, 5 to 10 minutes.
Meanwhile, stir together the yogurt and 3 tablespoons maple syrup. In four 2-cup mason jars or glasses, layer 1/2 cup yogurt, a large spoonful of berries with syrup, and 1 tablespoon chopped pecans, then another ¼ cup of yogurt, more berries, and more pecans. Top with a sprinkle of cinnamon.