Pour the almond milk into a blender, then add the maple syrup, cassava flour, matcha powder, vanilla, almond extract, and salt. Blend on high speed for 1-2 minutes until the mixture is completely smooth and the matcha is fully dissolved with no visible clumps. This ensures even distribution of the matcha flavor and prevents grittiness in the final ice cream.

Pour the blended mixture into a medium saucepan and heat over medium heat, stirring frequently with a whisk. Cook for 8-12 minutes until the mixture noticeably thickens and coats the back of a spoon—this activates the cassava flour's thickening properties and creates a richer, creamier base. I like to watch for small bubbles forming around the edges as a sign it's getting close to the right thickness.

Transfer the cooked mixture to a bowl and let it rest at room temperature for 15 minutes to begin cooling. Then cover the bowl and refrigerate for at least 4 hours, or overnight if possible. A fully chilled base churns more efficiently and produces a smoother, denser ice cream with better texture.

Remove the chilled matcha base from the refrigerator and pour it into your ice cream maker. Follow your machine's instructions to churn, typically 20-30 minutes, until the mixture reaches a soft-serve consistency. The churning incorporates air and prevents large ice crystals from forming, creating that smooth, scoopable texture.

Transfer the churned matcha ice cream to a freezer-safe container. If you'd like to add vanilla swirls, soften the vanilla ice cream for 5-10 minutes until it's pliable, then dollop it on top of the matcha ice cream in a few spots. Using a knife or skewer, gently swirl the vanilla through the matcha for a marbled effect. I find that swirling vanilla adds a nice richness and creates an attractive presentation. Cover and freeze until firm, at least 4-6 hours or overnight.

Remove the ice cream from the freezer 5-10 minutes before serving to let it soften slightly for easier scooping. Scoop into bowls or cones and enjoy immediately. The slight softening makes the texture more creamy on the palate.