• Chill the bowl of the ice cream maker in the freezer for 24 hours.

Prepare the matcha mixture

• Add the milk, heavy cream, sugar and salt into a medium saucepan and heat over medium-low heat until the sugar dissolves and the milk starts to simmer and foam. Stir often with a whisk and make sure that the milk does not boil.
• Meanwhile, prepare an ice bath and place a medium bowl in it.
• Add the matcha powder to the heated milk and cream mixture and whisk until the powder is evenly dissolved.
  
• Remove the saucepan from the heat and pour the mixture into the bowl placed in the ice bath.
  
• When the mixture has cooled down, cover the bowl with plastic wrap and place in the refrigerator for at least 2-3 hours.

Churn and freeze the ice cream

• Once the mixture is thoroughly chilled, pour the mixture into the pre-chilled bowl of the ice cream maker.
  
• Churn for 25 minutes, or according to the manufacturer's directions.
  
• Transfer the soft ice cream into an airtight container and chill in the freezer for at least 3 hours to overnight.