In a large saucepan, over medium heat, combine the instant coffee, milk, cream, sugar and black pepper together. Whisk until the sugar is dissolved. Bring the milk up to a boil and then reduce to a simmer, this will scald the milk. Temper the beaten egg yolks into the hot milk. Continue to cook the until the mixture comes back to a boil. This mixture will be thick and will coat the back of a spoon. Remove from the heat and strain into a glass bowl. Cover the top of the mixture with plastic wrap and cool completely. Place the mixture in the refrigerator and chill completely. Pour the filling into the ice cream machine and follow the instructions for the churning time.