Peel and cut the 4 pears into eighths, then place them in a saucepan
Scrape the seeds from half of a vanilla pod and add the scraped seeds, vanilla pod, clove, sugar, and milk to the saucepan
Simmer on low heat for 5-8 minutes until the pears are soft—the milk may curdle slightly due to the acidity of the pears, but this is normal and will resolve once thickened