Whisk together 1/2 cup of warm milk with Matcha powder. Make sure that the matcha powder dissolves completely with no visible lumps. Once done, set aside to cool, about 10 minutes.
Add in your can of chilled condensed milk to matcha milk mixture. Mix ingredients together until well combined.
In a bowl, add 2 cups of cold heavy whipping cream. With a mixer, mix the cream until stiff peaks appear.
Add whipping cream to condensed milk & matcha milk mixture. Carefully fold all ingredients together until mixture is a even mint green color.
Transfer ice cream into a container for storage and freeze ice cream for at least 6 hours or over night before serving.