In this paper, we propose a novel joint hybrid precoder and combiner design for maximizing the average achievable sum-rate of single-user orthogonal frequency division multiplexing millimeter wave massive MIMO systems. We formulate the analog precoder and combiner design as a constrained Tucker2 decomposition and solve it by using the projected alternate least square method. Such a formulation allows maximizing the sum of the effective baseband gains over all subcarriers, while suppressing the interference among the data streams in the same subcarrier. In turn, the digital precoder and combiner are obtained from the effective baseband channel's singular value decomposition on a per-subcarrier basis. Numerical simulation results show that the proposed method outperforms other existing designs.