In a saucepan, make the poaching liquid by combining the grape juice, vanilla bean, and orange peel. Add the peeled whole pears and cover with a round of parchment paper to keep the part of the pear at the surface from oxidizing. Simmer for 30 minutes or until fork tender.
Turn off the heat and let cool in the poaching liquid. Once cooled, chill them in the poaching liquid. When ready to serve them, remove them from the poaching liquid, and using a small paring knife cut out a whole from the bottom to hollow it out.
Stuff the hole with the jam and place on plates. Warm the remaining jam with an equal amount of poaching liquid, drizzle it over the pears, and serve.