Prepare the grill for indirect cooking over medium heat (180° to 230°C).

Combine the glaze ingredients in a small saucepan. Place over medium heat on the stove top, and cook until thickened, 1 to 2 minutes, whisking until smooth. Keep the glaze warm or reheat when ready to serve.

Season both sides of the pineapple slices with the pepper. Cook over indirect medium heat, with the lid closed, for 3 to 4 minutes on each side.

Serve each pineapple slice with ice cream and glaze drizzled over the top.