Preheat the oven to 350°.

Peel and halve pears, leaving the stem intact.

Use a melon baller to scoop out the seeds and a small hole. Place on a parchment-lined baking sheet face down, round side up.

Roll out the pie crust into ¼-inch-thick sheets, then divide into squares large enough to fit over a pear half. Cover the pear with pie crust, then use a small knife to cut around the edges of the pear.

Use a knife to make small slits on the pear. Form excess crust into small leaves and pinch them to the top of the pears. To make them more secure, brush the leaves lightly with milk. Repeat with the remaining pears.

Bake until pie crust is golden and juice is bubbling from the pears, about 20 minutes.

Let them cool, then top with a scoop of vanilla ice cream and drizzle with caramel.