Combine wine, sugar, orange peel, orange juice and vanilla in a medium saucepan. Bring to a boil, reduce heat and simmer 5 minutes.
While poaching liquid is simmering, peel pears, leaving the stem intact and being careful not to bruise the pears, cut in half and core, I use a melon baller).
Cut a piece of parchment paper into a circle that fits in the pot, make an X for steam to escape. This will act as a lid. Cover the pears with the parchment paper.
Simmer the pears for about 15-20 minutes. Gently turning every 5 minutes with a slotted spoon to ensure even color. Pears should be cooked but still firm. Cool at room temperature, turning occasionally to ensure even color.
To assemble, add two halves of pears with a scoop or two of Double Vanilla ice cream and chopped Madagascar Vanilla & Honey Almonds. Serve and enjoy!