In a small pot, heat the milk to low temperature without bringing it to a boil. In a small bowl place the egg yolks and whisk in a little of the hot milk. Mix really well and then incorporate the temper egg yolks to the pot with the milk. Cook for about 3 to 4 min. stiring all the time for the mixture to thicken a little. Turn off the heat and let it cool completely.
Pour the half and half, granulated sugar, condensed milk, salt, matcha powder and the previous milk mixture, already cooled down, into the blender, and blend until all ingredients are completely integrated.
Pour this into a tall pan or an ice cream pan, cover it and put it in the freezer overnight for it to get firm.