Can I substitute agar-agar powder for gelatin in no-churn ice cream?

I saw that many no-churn ice cream recipes use gelatin to prevent crystalization. Unfortunately, I don’t have any gelatin left but a lot of agar-agar powder. Can I use agar-agar powder instead? And if yes, what is the best way to use it? Because normally I have to bring the mixture to a boil to cook agar-agar powder but I don’t want to boil my milk.

Thanks for your help.