This paper presents results on the achievable spectral efficiency and on the energy efficiency for a wireless multiple-input-multiple-output (MIMO) link operating at millimeter wave frequencies (mmWave) in a typical 5G scenario. Two different single-carrier modem schemes are considered, i.e., a traditional modulation scheme with linear equalization at the receiver, and a single-carrier modulation with cyclic prefix, frequency-domain equalization and FFT-based processing at the receiver; these two schemes are compared with a conventional MIMO-OFDM transceiver structure. Our analysis jointly takes into account the peculiar characteristics of MIMO channels at mmWave frequencies, the use of hybrid (analog-digital) pre-coding and post-coding beamformers, the finite cardinality of the modulation structure, and the non-linear behavior of the transmitter power amplifiers. Our results show that the best performance is achieved by single-carrier modulation with time-domain equalization, which exhibits the smallest loss due to the non-linear distortion, and whose performance can be further improved by using advanced equalization schemes. Results also confirm that performance gets severely degraded when the link length exceeds 90-100 meters and the transmit power falls below 0 dBW.