Pour condensed milk into a bowl.
Lay a mesh sieve onto the bowl. In batches, sift the matcha green tea powder onto the condensed milk and stir until homogenous. Set the mixture aside.
Place heavy whipping cream and salt (if using) into a mixing bowl and whip until stiff peaks form. You may use a standing mixer or hand mixer.
Gently fold the matcha condensed milk mixture into the whipped cream until blended.
Transfer the ice cream mixture into a loaf pan or container of choice, cover with plastic wrap and freeze for at least 6 hours (or longer/overnight for harder ice cream). Enjoy!