Sumit, Sumit Kumar Jr and Varun Kumar and Mandeep Singh scored in India's exciting win to stay in contention for a final berth.
Defending champions India beat Japan 3-2 and will now face Pakistan for the Asian Hockey Champions Trophy title.
India ended the round robing stage unbeaten and topped the points table with 13 points.
Indian under 18 women's team lost 1-3 to hosts Argentina while the men's team suffered a 2-4 defeat against Malaysia in the finals.
Live updates of India vs Malaysia Men's Hockey Semifinal match: India lost to Malaysia after penalty shoot-out.
The Indian team seemed to have put aside the disappointment of failing to qualify for the final as they produced some marvellous skills to stamp their authority on the match.
India, who remained unbeaten in the tournament, won the Asia Cup title for the third time
India vs Malaysia, Asia Cup Hockey Final highlights: Ramandeep and Lalit scored for India as they beat Malaysia and lift their third Asia Cup trophy at Dhaka.
How to watch India vs Malaysia Asia Cup hockey final. Read all about live coverage from Maulana Bhashani National Hockey Stadium, Dhaka on October 22, 2017.
India vs Malaysia, Asia Cup Hockey 2017 Highlights: India registered a convincing 6-2 victory over Malaysia in their second Super 4s match.
After impressing in the preliminary round, India will aim to carry on the momentum in the Super 4s stage in the ongoing Asia Cup 2017 hockey tournament.
Following their narrow loss to Australia on Wednesday, India came back strongly to defeat Malaysia 4-2 in the Four-Nation Invitational Tournament.
India need to beat Malaysia in their last league tie to enter the final of Sultan Azlan Shah Cup. Australia have already qualified for the title clash
India beat Malaysia in an absolute thriller. The win ensures that the side will play with Belgium in the semis.
Jasjit Singh scored twice from two penalty corners to help India come from behind and defeat a spirited Malaysian team.
India came back from behind to register a thrilling win against a spirited Malaysian side. Despite scoring first, the team trailed for the most parts, before snatching the lead in the final quarter and winning 3-2.