Red Wine Poached Pear Filled with Vanilla Ice Cream and Topped with Granola

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1 bottle light red wine, such as merlot

1 1/2 cups sugar 

2 cloves 

2 pears (preferably Bosc or Anjou), peeled, halved and cored 

1 stick cinnamon 

1 vanilla bean, split and scraped 

1/2 orange, zested

1 cup vanilla ice cream 

1 cup store-bought granola 

3 fresh mint leaves, torn