Melt the matcha powder and sugar in the hot water.
Add the egg yolks in the melted matcha and mix well until you get a smooth texture.
Add the heavy cream and mix well.
Pour the matcha cream in a freezer-proof container and cool it in a freezer for about an hour.
Take out the container from the freezer and stir the half-frozen matcha ice cream gently.
Put the container back in the freezer and cool it for another 1-2 hours until it becomes nice frozen matcha ice cream.
Serve with whipped cream on top.