Peel the pears and trim a small slice from the bottom of each so they stand upright.
Add the apple cider, brown sugar, cinnamon sticks, cloves, orange zest, and orange juice to a large saucepan.
Bring the mixture to a gentle simmer over medium heat and stir until the sugar dissolves.
Place the pears in the liquid, cover the pan, and simmer for 20 to 25 minutes until the pears are tender when pierced with a knife.
Remove the pears with a slotted spoon and set them aside.
Simmer the remaining liquid uncovered for 10 minutes until it thickens slightly into a light syrup.
Serve each pear warm with a scoop of vanilla ice cream and a drizzle of the reduced cider syrup.