In a large nonreactive saucepan over medium heat, combine the instant coffee, milk, heavy cream, sugar, and pepper. Whisk until the sugar is dissolved. Heat the mixture to the scalding point. Remove from the heat.

Beat the egg yolks in a large mixing bowl. Add the cream mixture, about 1/4 cup at a time, to the beaten egg, whisking well between each addition, until it is all used. Pour the mixture back into the saucepan and cook, stirring, over medium heat until the mixture becomes thick enough to lightly coat the back of a spoon. Remove from the heat and strain through a fine-mesh sieve into a glass bowl. Cover the top of the mixture with plastic wrap (this will keep a skin from forming) and let cool completely. Place the mixture in the refrigerator and chill completely. Pour the mixture into an ice cream machine and follow the manufacturer's directions for the churning time.

Note:  Depending on the capacity of your ice cream maker, you may have to churn the ice cream base in two batches. Begin by filling your ice cream maker half-way with the base.  Then repeat.