Heat the milk, pepper, cinnamon, rich cream and dark chocolate in a saucepan. Stir until it reaches boiling point. Once the chocolate is melted, stir and then let cool to the side.
Combine the sugar, egg white and cocoa powder in a large bowl.
Mix the milk mixture well and continue to whisk until it becomes thick and creamy. The goal is to get a shiny, thick mixture.
In an ice cream maker
Place the chocolate ice-cream mixture in an ice-cream maker and churn to your desired consistency.
Without an ice cream maker
Place the ice cream mixture in a freezer-safe container.
Stir the mixture every 30 minutes until it becomes fully frozen. This will take approximately 4 hours.