Combine the red wine, sugar, lemon zest, lemon juice, vanilla extract, and cinnamon in a large, deep pot or wok.
Bring to a boil, then turn the heat down to reach a low simmer.
Working with one pear at a time, use a vegetable peeler to gently peel the pears, following their natural shape from top to bottom, trimming the bottom slightly to create a “balance beam."
Gently add each pear to the pot and simmer for 10 to 12 minutes on one side.
Rotate the pears and continue to poach them for an additional 8 to 10 minutes, or until they are tender and are easily poked through with a fork.
Remove the pears from the pot and cool them on a cooling rack or clean towel.
Bring the wine sauce back up to a rolling simmer and cook until the liquid has been reduced by half.
To serve, balance one pear into a shallow bowl. Pour a stream of sauce over the fruit and set a scoop of ice cream, mascarpone cheese, or crème fraiche next to the pear (if using). Serve and enjoy.