In a large bowl, beat eggs on medium speed. Gradually add sugar and oil; beat thoroughly. Combine the flour, cinnamon, salt and baking soda; add to egg mixture and mix well. Stir in pears and vanilla. (The batter will be stiff.)
Spoon into a greased and floured 10-in. tube pan. Bake at 350° for 60-65 minutes or until a toothpick inserted near the center comes out clean. Let cool in pan 10 minutes before inverting onto a serving plate.
In a small bowl, combine the confectioners' sugar and milk; beat until smooth. Drizzle over warm cake. Cool completely. Yield: 14-16 servings.