In a medium saucepan, combine the full-fat coconut milk, almond milk, maple syrup, matcha powder, agar-agar powder, vanilla extract, and a pinch of salt. Whisk the mixture thoroughly until the matcha is fully dissolved.
Place the saucepan over medium heat and bring the mixture to a gentle simmer, stirring frequently. Allow it to simmer for about 5 minutes, ensuring the agar-agar is completely dissolved and the mixture is smooth.
Once the mixture is simmering, reduce the heat to low and continue to stir for an additional 2 minutes. Be cautious not to let it boil vigorously, as this may affect the texture.
Remove the saucepan from the heat and let it cool slightly for about 5 minutes. While it's cooling, prepare your serving dishes or molds by lightly greasing them with coconut oil or lining them with parchment paper if necessary.
Pour the panna cotta mixture into the prepared dishes or molds. Allow it to cool to room temperature before transferring them to the refrigerator.
Chill the panna cotta in the refrigerator for at least 4 hours, or until it has set completely. The panna cotta should hold its shape when unmolded.
Once set, carefully invert the panna cotta onto serving plates or enjoy directly from the dishes. Garnish with fresh berries, coconut flakes, or a drizzle of maple syrup for an extra touch.