Integrated Sensing and Communication (ISAC) has attracted substantial attraction in recent years for spectral efficiency improvement, enabling hardware and spectrum sharing for simultaneous sensing and signaling operations. In-band Full Duplex (FD) is being considered as a key enabling technology for ISAC applications due to its simultaneous transmission and reception capability. In this paper, we present an FD-based ISAC system operating at millimeter Wave (mmWave) frequencies, where a massive Multiple-Input Multiple-Output (MIMO) Base Station (BS) node employing hybrid Analog and Digital (A/D) beamforming is communicating with a DownLink (DL) multi-antenna user and the same waveform is utilized at the BS receiver for sensing the radar targets in its coverage environment. We develop a sensing algorithm that is capable of estimating Direction of Arrival (DoA), range, and relative velocity of the radar targets. A joint optimization framework for designing the A/D transmit and receive beamformers as well as the Self-Interference (SI) cancellation is presented with the objective to maximize the achievable DL rate and the accuracy of the radar target sensing performance. Our simulation results, considering fifth Generation (5G) Orthogonal Frequency Division Multiplexing (OFDM) waveforms, verify our approach's high precision in estimating DoA, range, and velocity of multiple radar targets, while maximizing the DL communication rate.