Peel and cut the pear into small chunks. Transfer to a cup and use a muddler (or the end of a spoon) to mash the pear. Add the lemon juice, maple syrup, cinnamon, and vanilla extract. Stir or shake until well combined.
Optional: Use the leftover lemon peel to moisten the rim of your serving cup. Dip the rim in cinnamon and sugar.
Pour the mixture into your serving cup (or strain the mixture for a smoother drink). Add ice and top with sparkling water or ginger ale. Top with fresh rosemary, a slice of pear, and a cinnamon stick. Enjoy!!