Who needs a visa?
Anyone wishing to enter the United States needs to apply for and receive a visa except:
Travelers eligible for the Visa Waiver Program (VWP). See here. Malaysians are not eligible for the Visa Waiver Program.
US citizens and nationals, including those who hold dual citizenship, may not receive visas, and must enter with a US passport. Most people born within the US are US citizens, even if their parents are not. (See here for information on applying for a US passport.)
Legal permanent residents of the United States (LPRs or "green card" holders), or children born abroad to an LPR mother during a temporary trip, within two years of the birth.
Citizens of Canada and Bermuda, traveling for certain purposes. See here.
Citizens of Micronesia and the Marshall Islands, for certain purposes. See here.
A small number of others, as defined in 22 CFR 41.1 and 22 CFR 41.2.