In a medium saucepan, bring milk and peppercorns to a boil. Remove from heat and allow to steep for 1 hour.

Add cream and sugar to milk and whisk well. Set aside.

In a large, heatproof bowl, whisk yolks well. Add flour and whisk again.

Heat milk and Peppercorn mixture to just under a boil and slowly whisk into yolks and flour.

Return mixture to the same saucepan and heat over medium heat, whisking constantly, until mixture thickens slightly and coats the back of a wooden spoon. Do not allow the mixture to boil!

Pour the mixture through a sieve set over a bowl placed in a bowl of ice water. Discard the peppercorns in the sieve. Allow the mixture to cool slightly.

Cover the bowl of ice cream base with plastic wrap and refrigerate overnight to allow flavors to blend.

Process ice cream base in an ice cream machine.

Transfer ice cream to an airtight container and freeze.