Bring a pot of water to a boil and add the tapioca pearls. Cook according to package instructions until they are soft and chewy.

Once cooked, drain the pearls and rinse them under cold water to stop the cooking process.

In a separate pot, combine brown sugar and water over medium heat. Stir until the sugar dissolves to create a syrup.

Add the cooked tapioca pearls to the brown sugar syrup and let them soak for about 10 minutes.

In a glass, add a portion of the brown sugar tapioca pearls.

Pour in the milk mixture over the pearls, and add ice to fill the glass.

Stir well to combine and enjoy with a wide straw.