Cut the pears in half lengthwise and use a spoon to gently scoop out the core and seeds. Place the pears cut side up in a 9x13 inch baking dish.
In a small bowl, combine the honey, cinnamon, and vanilla extract. Mix it together until well combined. Then drizzle the honey mixture over the pears, covering each one evenly.
Bake the pears for 25-30 minutes, until soft and slightly golden brown.
Let them cool slightly before serving. Serve as a dessert with ice cream, or for breakfast on top of oatmeal.