Combine apple cider, honey, lemon peel, cloves, cinnamon stick and peppercorns in a large skillet. Add pears and bring to a simmer over medium heat. Cover and cook until pears just begin to soften, about 4 minutes. Using a slotted spoon, transfer pears to a dish; set aside.
Increase heat to medium-high and reduce sauce until it's slightly syrupy, 2 to 3 minutes. Remove from heat and strain; discard spices.
Whip heavy cream with sugar and vanilla extract. Serve with pear slices and, if desired, cookies.