Heat the milk in a 2-quart saucepan over medium heat just until steaming, with bubbles forming around the edge of the pan. While the milk heats, whisk the egg yolks and sugar in a large mixing bowl by hand or with an electric mixer on low speed until the yolks are thickened and pale.

Add the hot milk to the thickened egg yolks in a slow, steady stream while whisking constantly to make a custard base; I find this easiest to do by first pouring the hot milk into a heat-safe liquid measuring cup with a pour spout, then into the egg yolks.

Return the custard base to the saucepan and place over medium-low heat. Cook, stirring constantly with a silicone spatula or wooden spoon, for about 7-10 minutes until the custard starts to thicken and become opaque. When your spatula starts to “skid” across the slippery, thin layer of custard on the bottom of the pan, you’ll know you’re about a minute away from doneness.

Strain the custard with a fine-mesh metal strainer into a clean bowl and add the cream, 1 cup strawberry puree, pepper, and balsamic vinegar. Whisk to thoroughly mix the ingredients, then cover and chill for at least 8 hours.

When the gelato base is fully chilled, freeze in an ice cream maker according to manufacturer’s instructions. Transfer the frozen gelato to a freezer-safe container with a lid and freeze for at least 4 more hours to harden.

Serve with the reserved strawberry puree.