To make the glaze use a small saucepan and combine the ingredients, whisking until smooth. Slowly bring to the boil and cook until thickened, 1 to 2 minutes.
Keep the glaze warm or reheat when ready to serve.
Season both sides of the pineapple slices with the pepper. Cook using the indirect setting, 3 to 4 minutes each side.
Serve each pineapple slice with ice cream and some of the glaze drizzled over the top.