Balsamic Poached Pears with Vanilla Ice Cream

3 firm pears

1 cup brown sugar

1/2 cup balsamic vinegar

1/4 cup apple juice

1 tablespoon lemon juice

1 tablespoon butter

2 small cinnamon sticks, (or 2 teaspoons ground cinnamon)

2 vanilla beans, split lengthwise and scraped (or 2 teaspoons vanilla extract)

1. Place all the ingredients except the pears into a skillet and heat on low while peeling and coring the pears.
2. Carefully place the peeled and cored pear halves into the skillet core side down. Place lid on pan.
3. Bring to a low boil and reduce heat to a simmer. Simmer 15 minutes and flip the pears over.
4. Simmer 5 additional minutes. Remove pears from skillet with a slotted spoon and set aside.
5. Increase the heat to medium; simmering to reduce the liquid in half. Remove from burner and cool.
6. Serve each pear half over vanilla ice cream and drizzle with the reduced balsamic sauce.