Warm the milk, sugar, and salt in a saucepan over medium heat but take care that it doesn’t come to a boil. Meanwhile, pour the cream into a large bowl and whisk in the matcha. In a separate bowl, whisk together the egg yolks. Slowly pour the warm milk mixture into the bowl with the egg yolks, whisking constantly. Then scrape the warmed egg yolk mixture into the saucepan. Return the pan to medium heat and stir constantly with a heatproof spatula, scraping the bottom as you stir, until the mixture thickens and coats the spatula.
Place a strainer over the bowl of matcha cream. Pour the warm custard through the strainer into the cream, discarding the solids. Whisk vigorously until the mixture is frothy and the matcha is dissolved. Fill a large bowl halfway with ice water. Place the bowl of matcha custard in the ice bath and stir until cool.
Chill the mixture thoroughly in the refrigerator, then freeze in your ice cream maker according to the manufacturer’s instructions.
Recipe adapted from the Perfect Scoop