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Whisk the milk, sugar, and egg yolks in a medium-sized pot over medium heat. Continue whisking occasionally until the milk is steaming and has reached 165 degrees Fahrenheit. Remove the pot from the heat.
Put the matcha powder into a small bowl and add a few tablespoons of the hot milk. Whisk well then add milk until it becomes a thin paste.
Whisk the matcha paste into the hot milk then strain through a fine-mesh sieve into a large bowl.
Whisk in the whipping cream then chill the ice cream base in your fridge until completely cold.
Once the ice cream is cold, churn it in your ice cream maker according to the manufacturer's directions.
Transfer the ice cream to a freezer-proof container and freeze it for at least 2 hours.