The advantage comes into account when the operations can be executed in parallel. (See http://java.dzone.com/articles/devoxx-2012-java-8-lambda-and - the section about internal and external iteration)
The main advantage from my point of view is that the implementation of what is to be done within the loop can be defined without having to decide if it will be executed in parallel or sequential
If you want your loop to be executed in parallel you could simply write
joins.parallelStream().forEach(join -> mIrc.join(mSession, join));
You will have to write some extra code for thread handling etc.
Note: For my answer I assumed joins implementing the java.util.Stream
interface. If joins implements only the java.util.Iterable
interface this is no longer true.