Peppercorn Ice Cream With Rum-Glazed Pineapple

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2 cups 1% low-fat milk, divided

1 teaspoon black peppercorns, coarsely crushed

2 large egg yolks

2 tablespoons granulated sugar

1 tablespoon vanilla extract

1/4 teaspoon grated lime rind

1 tablespoon fresh lime juice

1 (14-ounce) can fat-free sweetened condensed milk

1/4 cup packed brown sugar

1/4 cup dark rum

7 (1/2-inch-thick) slices pineapple

Cooking spray

Lime slices (optional)

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