Gather all ingredients.

Whisk matcha powder in a bowl to remove any lumps. Add a splash of milk and whisk until matcha powder is completely dissolved. Gradually whisk in remaining milk.

Transfer matcha mixture to a pot. Add cream and cook over medium-low heat, stirring occasionally, until heated through, about 5 minutes.

Whisk sugar and eggs together in a bowl. Pour ½ cup hot matcha mixture into egg mixture, whisking quickly until thoroughly combined. Repeat with remaining matcha mixture. Pour mixture back into the pot.

Cook and stir matcha mixture over medium-low heat until heated through, about 3 minutes. Remove from the heat and cool to room temperature, about 20 minutes. Refrigerate until chilled, at least 2 hours.

Pour chilled matcha mixture into an ice cream maker and freeze according to the manufacturer's instructions, about 20 minutes.

Serve or transfer to an airtight container and freeze until desired consistency is reached.