Add the water, maple syrup, brown sugar, lemon juice, cinnamon sticks, and vanilla bean seeds or vanilla bean paste to a small saucepan and bring to a gentle boil.
Reduce heat to low, then stir in the pears and cover. Simmer for about 6-8 minutes over low heat, stirring once.
Remove the lid and cook for an additional 5-10 minutes, until the pears are fork tender.