Sift 1 or 2 teaspoons of matcha powder into a bowl to remove lumps.
Pour 2 tablespoons of hot water (75-80°C) for each teaspoon of matcha powder.
Whisk rapidly in a zigzag pattern until smooth and frothy. Transfer the matcha mixture to a preheated cup.
Use an espresso machine's steamer or heat milk in a pan until 65-75°C. Whisk the milk until frothy, or use a hand frother.
Pour the hot milk into the cup with the matcha mixture.
Add maple syrup or caramel sugar for extra sweetness. Optionally, sprinkle matcha powder on top for added flavor.