V-Vocal has pitch to midi. It should be in the help file. Basically, there is an icon in V-Vocal that allows you to drag it to a midi track.
EDIT:
V-Vocal does claim to do pitch to midi. However, I tried it and it sounds absolutely horrible. I've wanted to double some vocals using pitch to midi and then use a soft synth. I tried the demo of Digital Ear. It did a great job of converting a small portion of a wave file to midi and it was very easy. However, it is not free and it's interface is a little lacking. But if all you want to do is convert audio to midi it seemed to do a great job. I probably would not use it enough to justify the $130 cost.
Roland should really check out Digital Ear and see what pitch to midi should sound like. Not sure what Cakewalk was thinking when they claimed V-Vocal could do pitch to midi. It will give you something, just nothing close to what the audio track sounded like. LOL. In fact it's so bad, they shouldn't even have ever added it.