Non-orthogonal multiple access (NOMA) and millimeter-wave (mmWave) communication are two important technologies considered for the fifth generation (5G) of mobile networks. In this paper, we propose a machine-to-machine (M2M) communication underlaying heterogeneous network (HetNet) with mmWave-NOMA transmission, where small cell users (SCUs) and machine type communication (MTC) devices share the same resource block (RB) to increase the network capacity. We formulate an optimization problem to select efficient users and allocate transmission powers to SCUs and MTC devices. The object of optimization is to maximize the energy efficiency (EE) subject to the minimum spectral efficiency (SE) requirements and maximum transmission powers. We present a low computational complexity sub-optimum solution based on the non-cooperative game. An iterative algorithm with fast convergence speed and a reduced complexity search-based algorithm are respectively presented to solve the power control and user selection problems. The comparison between the proposed solution and optimum solution for different number of transmit antennas indicate that there is a small gap between SEs and EEs of the proposed and optimum solutions. Further, the results of user selection scheme demonstrate that the location of strong user affects the performance. We also derive analytical expressions for the outage probability which confirm Monte Carlo simulations.