For the vanilla ice cream with pistachios, first heat the milk with the vanilla pulp, pod and pepper until it almost boils. Set aside and leave to infuse for about a quarter of an hour. Then remove the pod.
Stir in the condensed milk and the pistachios. Fold in the whipped cream. Divide the vanilla ice cream with pistachios among 4 ramekins and freeze for several hours, preferably overnight.