Pre-heat grill to medium high heat
Cut pears in half and remove stem as well as seeds with a melon baller. The hollow will be perfect for your ice-cream filling
Oil pears very well to prevent sticking
Place pears cut side down on the hot grill for 4-5 minutes - the idea is to sear quickly and cook throughout as quickly as possible
Use a spatula to remove the pears
Fill each pear with a scoop of ice cream
Dust with cinnamon and serve immediately