In a mixing bowl, whisk together the egg yolks and sugar until pale and creamy.

In a saucepan, heat the heavy cream and whole milk over medium heat until just simmering.

Slowly pour the hot cream mixture into the egg yolk mixture, whisking constantly to temper the yolks.

Return the mixture to the saucepan and cook over low heat, stirring constantly until it thickens slightly and coats the back of a spoon.

Remove from heat and stir in the matcha powder and vanilla extract until fully combined.

Let the mixture cool to room temperature, then refrigerate for at least 2 hours or until chilled.

Once chilled, pour the mixture into an ice cream maker and churn according to the manufacturer's instructions.

Transfer the churned ice cream to an airtight container and freeze for at least 2 hours to firm up.