Crack peppercorns into large pieces with the back of a heavy spoon.
In a medium saucepan, combine cracked peppercorns, half and half, and half of the sugar (50 g or 1/4 cup). Stirring, bring to a simmer (160-170°F) over medium heat. Remove from heat, cover, and let steep 30 minutes.
Bring mixture back to a simmer (160-170°F) over medium heat.
In a medium bowl, whisk together remaining sugar and egg yolks,
While whisking the egg yolk mixture continuously, slowly add the hot half and half mixture.
When whisked in, return custard to the saucepan, and, stirring continuously, bring back to a simmer (165-170°F), or until the custard thickens and coats the back of a spoon.
Strain hot custard into a medium bowl and discard the cracked peppercorns.
Add heavy cream, cover, and refrigerate until very cold, preferably overnight.
Assemble an ice cream maker and churn according to the manufacturer's directions.
Transfer ice cream to a air-tight container and store in the freezer.