Preheat your oven to 350 degrees F. Line a baking sheet with foil or parchment paper.
Cut the pear in half and using a grapefruit spoon, scoop out the seeds in the pear halves leaving a a deep cavity.
Brush the two pear halves with two teaspoons of maple syrup. Mix the walnuts with one teaspoons of the maple syrup and a sprinkle of salt. Fill the cavities of each pear half with equal amounts of the chopped walnut mixture. Sprinkle the pears with cinnamon and put in the oven. Bake for about 20-25 minutes to soften and heat through.
Meanwhile, heat the balsamic vinegar in a small saucepan until boiling. Let boil for about a minute. Take off the heat and let cool. The balsamic with get thick and syrupy as it cools.
Remove the pears from the oven and plate. Serve with a scoop of vanilla ice-cream (optional) and drizzle with the balsamic glaze. Finish with a sprinkle of flaky salt. Enjoy.