Heat oven to 350°F. In medium bowl, toss pears, raspberries, sugar, cornstarch, cinnamon and vanilla. In 8-inch square glass baking dish sprayed with cooking spray, spread fruit mixture.
In medium bowl, mix remaining ingredients except ice cream until crumbly. Sprinkle over fruit.
Bake 40 to 45 minutes or until pears are tender. Cool 15 minutes. Serve warm with ice cream.