Place the sugar, orange peel, cloves, cinnamon, red wine, water, and vanilla in a saucepan. Make sure the saucepan is large enough for the pears to fit snugly in there, with just enough wiggle room for the pears to mostly submerge in the poaching liquid.
Bring to a simmer while stirring to dissolve the sugar.
Peel the pears ONLY when the poaching liquid is ready (pears will discolor if you peel them too early). Remove the core using a melon baller or spoon. Lower the peeled pears into the poaching liquid.
Let the pears poach in the liquid on medium-low heat (simmering) for 20 - 25 minutes, flip over about every 5 minutes to ensure they poach evenly on all sides.
In a bowl using a whisk, or an electric mixer if desired, whip the heavy cream until it is stiff. Refrigerate until ready to use.
When the pears have been poached, remove the saucepan from the heat and allow the pears to cool down in the poaching liquid for 10 minutes then remove the pears from the liquid and refrigerate until cooled completely.
Heat the remaining liquid in the saucepan, and bring it to a simmer. Simmer for a few minutes until the liquid thickens slightly into a syrup. The cooking time depends on how much liquid is left, so keep an eye on it. If the syrup is too thick, add a little water to thin it out.
Drizzle the pears with the syrup. Top with whipped cream and garnish with mint.