Heat oven to 350°F. In large bowl, toss pears, raspberries, sugar, cornstarch, cinnamon and vanilla. In 8- or 9-inch square glass baking dish, spread fruit mixture.
In medium bowl, mix remaining ingredients except ice cream until crumbly. Sprinkle over fruit.
Bake 45 to 50 minutes or until pears are tender. Cool 15 minutes. Serve warm with ice cream.