Teri -
Apples do well with a central leader and spaced branches called a scaffold. They also can be formed into a vase. The thing you want to encourage is branching that is close to 90 degrees away from the trunk. This is a strong joint and will support weight as the tree starts to carry fruit. Most apples form fruiting spurs and you will want to take off most upward growth to divert the tree's
energy into the fruiting
wood.
Pears can be pruned the same way as apples, with either a central leader/scaffold or a vase shape. They are usually spur bearing (like most apples) and the way to stimulate spur development is to force horizontal limb growth. Unfortunately for the orchardist, pears in their wild form can grow more than 20 m tall with big vertical leaders. I will choose a few early in the tree's career and tie them down during the growing season to enforce the desired shape. After this is done everything else is thinning and maintenance.
Plums will naturally tend toward v-shaped branching. The bad news about this is that it often produces weak crotches, and there is no fixing a weak crotch. We get lots of wind here, and if it comes in the late spring or early summer when a plum tree has lots of fruit on a long branch attached at a sharp angle, that branch is a goner and the split that results can go all the way down the trunk. This is direct from the Dept of Making You Sad, so make sure your trees don't develop weak crotches and head back the overly long leaders.
Apricots are sort of like plums without as many extravagant leaders. Keep them open for airflow.
Peaches can be left to their own devices in terms of form. Just take out about one third of the growth each time you prune.
Figs can be pruned hard, but leave
enough of the last season's growth if you want fruit. Restricting the
roots of a fig tree will help keep the size under control.
Dunno about pawpaws. Mine are still seedlings.