In a bowl, whisk together the matcha powder with a little warm milk until you have a smooth, lump-free paste.
In a saucepan, heat the remaining milk, heavy cream, and sugar over medium heat until the sugar is completely dissolved. Do not boil!
Remove the saucepan from the heat, then add the matcha paste and vanilla extract. Stir well to ensure the flavors are evenly distributed.
Let the mixture cool completely to room temperature, then refrigerate for at least 2 hours.
Pour the chilled ice cream base into an ice cream maker and churn according to the manufacturer's instructions. If you don't have an ice cream maker, pour the mixture into a freezer-safe container and stir it with a fork every hour to prevent ice crystals from forming.
Place the ice cream in the freezer for at least 4 hours to fully harden.
Before serving, let it sit at room temperature for a few minutes to make it easier to scoop. Garnish with a little extra matcha powder or fresh mint.
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