Preheat the oven to 350°F (175°C). Line a baking sheet with parchment paper.

In a bowl, mix brown sugar and black pepper. Coat bacon slices with the mixture.

Place bacon on the baking sheet and bake for 20 minutes or until crispy.

Let the bacon cool and chop into small pieces.

In a saucepan, combine heavy cream, whole milk, and sugar. Heat until sugar dissolves.

In a mixing bowl, whisk egg yolks. Gradually add the warm cream mixture to the yolks, whisking constantly.

Return the mixture to the saucepan and cook over low heat until thickened.

Remove from heat and stir in vanilla extract and melted chocolate.

Pour the ice cream base into an ice cream maker and churn according to manufacturer's instructions.

During the last few minutes of churning, add the chopped candied bacon.

Transfer the ice cream to a container and freeze until firm.