01 - Combine milk and heavy cream in a medium saucepan. Heat over medium heat until steaming but not boiling, stirring occasionally to prevent scorching.
02 - Remove saucepan from heat and add hojicha tea leaves. Cover and steep for 10 minutes to extract roasted, nutty flavor.
03 - Pour mixture through a fine mesh sieve, pressing firmly on tea leaves to extract maximum flavor. Discard spent tea leaves and return infused liquid to saucepan.
04 - Whisk egg yolks, granulated sugar, and salt in a separate mixing bowl until mixture becomes pale yellow and thickened.
05 - Slowly drizzle 1 cup of warm hojicha mixture into egg yolks while whisking continuously. Gradually add remaining liquid to prevent curdling.
06 - Return mixture to saucepan. Cook over low heat, stirring constantly with a wooden spoon, until custard thickens and coats the back of the spoon, about 6 to 8 minutes. Do not let mixture boil.
07 - Pour custard through fine mesh sieve into clean bowl. Let cool to room temperature, then cover surface directly with plastic wrap. Refrigerate for at least 3 hours or overnight.
08 - Process chilled custard in ice cream maker according to manufacturer's instructions until thick and creamy.
09 - Transfer churned ice cream to airtight container. Freeze for at least 1 hour to firm before scooping. Serve topped with toasted sesame seeds or black sugar syrup if desired.