Place heavy cream in a zip-top bag and put in an ice bath.

Combine milk, condensed milk, tea leaves, and salt in a saucepan.

Cook over medium heat, stirring, until steaming. Remove and steep for 15 minutes.

Strain through a fine mesh sieve.

Return cream mixture to medium-low heat until steaming.

Whisk egg yolks in a bowl.

Slowly add warm cream mixture to the yolks, tempering them.

Pour yolk mixture back into saucepan and heat, stirring constantly, until thickened (about 170°F).

Pour through sieve into bag with cold cream, discarding solids. Add almond extract, seal, and submerge in ice bath.

Refrigerate until completely cool (at least 2 hours).

Pour into ice cream maker and churn until soft serve consistency.

Transfer to freezer-safe container and freeze for at least 2 hours.