Preheat the oven to 350°F (175°C).
Prepare the pears by cutting them in half and removing the core.
In a mixing bowl, combine chopped walnuts, brown sugar, cinnamon, vanilla extract, melted butter, and salt.
Stuff each pear half generously with the walnut mixture, pressing down gently.
Place the stuffed pears in a baking dish and drizzle any remaining filling over the top.
Cover the dish with aluminum foil, trapping steam for moist pears.
Bake in the preheated oven for 25-30 minutes until the pears are tender.
Remove the foil and bake for an additional 10-15 minutes for caramelization.
Let cool slightly before serving, optionally with a scoop of ice cream.