Is there a way to experience pepper's endorphins effects without the burning sensation?
According to my research, the effect of capsaicin that causes the burning sensation is indirectly responsible for the pleasurable release of endorphins, which are the brain's way of counter-acting the pain sensation. If you don't feel any burn, then you probably haven't consumed enough capsaicin to trigger the endorphin rush.

This source from Northwestern University provides the most succinct summary:


  Capsaicinoids trick the brain into thinking it is being burned, which is a painful experience, through the transmission of neurotransmitters [...] The brain responds by releasing another type of neurotransmitter known as endorphins. Endorphins are the body’s natural way of relieving pain by blocking the nerve’s ability to transmit pain signals.