Sift the matcha powder into a small bowl and add hot water. Don’t use boiling water. The temperature of the hot water should be around 70-80℃ (158-176℉). Whisk them well to dissolve the matcha powder. Strain the mixture if it's lumpy.
In a blender, combine the ice cubes, milk, vanilla extract, maple syrup and matcha mixture. Blend until smooth. Pour into glasses or cups and serve immediately.