Bring 3/4 cup unsweetened almond milk, soy milk, rice milk, or cow's milk to a bare simmer in a small pot over medium-high heat.
Place 1 teaspoon matcha powder in a heatproof cup. Slowly whisk in 1/4 cup boiling water, then almond milk, tipping cup slightly to help create more foam. Sweeten with agave syrup.