Steps:
- Combine the water, sugar and cinnamon in a heavy large sauce pan. Using a vegetable peeler, remove the peel from the oranges and place the peels in the sugar-water mixture. Squeeze the juice from the oranges into the sugar-water mixture. Scrape the seeds from the vanilla bean into the sugar-water mixture, and add the vanilla. Bring to a simmer over medium-high heat. Meanwhile, using a melon baller, remove the core from the bottom end of the pears. Place the pears into the syrup and simmer until the pears are tender, about 25 minutes. Allow the pears to cool in the cooking liquid, then transfer to the fridge. The pears can be kept in this liquid for up to 2 days. Transfer the pears to a platter. Simmer the syrup over high heat until it thickens slightly, about 30 minutes. Place the pears on plates. Spoon a scoop of ice cream alongside each pear. Drizzle some of the syrup over and around the pears and serve.
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