Wash, dry, and juice lemon into a small saucepan; add butter and cinnamon. Set over medium heat to melt. Whisk to combine and remove from heat.
1 lemon
2 tbsp butter, unsalted
½ tsp cinnamon
Meanwhile, wash, dry, quarter, and core pears. Place in a baking dish and drizzle with lemon butter. (Reserve saucepan for later use.)
4 pears
Place pears in the oven (it doesn't have to be fully heated) and roast until fork-tender, 20-25 minutes. Remove from oven.
While the pears are baking, place sugar and vinegar in the saucepan, return to medium heat, and whisk to combine.
⅔ cup brown sugar
¼ cup balsamic vinegar
Increase heat to high and bring the mixture to a boil; Cook, whisking constantly, until smooth and slightly thickened, about 2 minutes. Remove glaze from heat and cover to keep warm.
To serve, divide pears and ice cream between bowls and drizzle with glaze. Enjoy!