Combine the water, sugar, cinnamon sticks, and lemon zest in a saucepan. Split vanilla bean lengthwise, scrape out the seeds and add both the seeds and the pod to the pan. Bring the mixture to a boil over medium heat while stirring occasionally, until the sugar is completely dissolved.
Peel the pears and cut them in half. Reduce the poaching liquid to a simmer and add the pears. Cook for about 15 min, until just tender. Remove the pan from the heat and cool the pears completely in the poaching liquid.
Serve the pears with a scoop of ice cream, a little pear-poaching syrup and Posh Nosh Chocolate Fudge Sauce drizzled over the top.
