Bring water to a boil in a large pot. Remove from heat and add tea bags. Let steep for 5 minutes (or according to tea directions). Remove tea bags, squeezing to remove extra liquid into the pot.
5 cups water, 3 to 4 cinnamon tea bags
While the tea is steeping, peel pears and cut in half lengthwise. Use a spoon or melon baller to scoop out the core and seeds. Leave the stem on for presentation, or remove it.
4 pears
Add sugar, orange peel, and salt to the tea. Set over medium heat and bring to a simmer, stirring to dissolve sugar and salt.
1 cup granulated sugar, Stripped peel of 1 orange, Pinch fine sea salt
Lower pears into liquid (should be completely covered but might float) and simmer for 15-20 minutes, until tender but not mushy, turning halfway through for even poaching.
Serve with extra syrup on top, with ice cream, or vanilla sauce.
For the vanilla sauce
Whisk together the milk, cream, sugar, butter, flour, and salt in a heavy saucepan until smooth. Bring to a simmer over medium heat, whisking occasionally. Once the sauce is simmering, whisk frequently until thickened, 10 to 12 minutes. (Note: the sauce will continue to thicken as it cools). Stir in the vanilla extract.
1 cup whole milk, 1/4 cup heavy cream, 1/3 cup packed brown sugar, 2 tablespoons unsalted butter, 1 tablespoon all-purpose flour, 1/8 teaspoon fine sea salt, 1 tablespoon pure vanilla extract
Transfer sauce to a small carafe or store in the refrigerator until ready to use.
Notes
If using a Dutch oven, increase ingredients to ensure pears are covered: 7 cups water, 5 bags tea, 1 1/2 cups sugar.