01 - In a large saucepan, combine water, sugar, cinnamon stick, star anise, cloves, vanilla bean with seeds, orange zest, lemon zest, orange juice, lemon juice, ginger, and salt. Stir until sugar completely dissolves.
02 - Bring the mixture to a gentle simmer over medium heat, watching carefully to avoid boiling.
03 - Add pear halves to the poaching liquid, ensuring they are mostly submerged. Cover with a parchment paper circle or lid slightly ajar. Simmer gently for 20 to 25 minutes, turning pears occasionally, until tender when pierced with a knife but not falling apart.
04 - Carefully remove pears with a slotted spoon and transfer to a serving dish.
05 - Increase heat to medium-high and boil the poaching liquid until reduced by half and slightly syrupy, about 8 to 10 minutes.
06 - Discard the spices and citrus zest pieces. Pour warm syrup over pears. Serve warm or at room temperature with vanilla ice cream, whipped cream, or Greek yogurt if desired.