Poached Pears and Vanilla Ice Cream

Combine first 5 ingredients in large saucepan; bring to a boil. Add pear halves; cover, reduce heat, and simmer 8 minutes or until tender. Remove the pear halves with a slotted spoon; discard liquid. Place pears in a large shallow dish; cover and chill. Serve the pear halves with ice cream. Sprinkle with cinnamon, if desired.