First, prepare the taro tea: Add the jasmine tea bag to the boiling water. Let the tea steep for 15 minutes. Remove the tea bag and add the taro powder. Stir until completely dissolved. Once at room temperature, put the tea in the fridge and chill for at least 2 hours until cold. 

Meanwhile, make the simple syrup: On a small saucepan, heat the sugar and water over medium heat until the sugar is dissolved. Remove the syrup from the heat and set aside.

Next, prepare the boba: Bring a small pot of water to a boil over high heat. Once boiling, add the tapioca pearls. After about 20 seconds, they should float to the top. Reduce the heat to maintain a simmer and continue to simmer for 5 minutes. Then, remove the pot from the heat, strain the boba and run them under cold water for a minute. Add the boba to the simple syrup mixture and set aside until ready to drink the tea.

Lastly, serve the taro milk tea: Stir the milk into the cooled taro jasmine tea. Add in the boba. If you prefer your milk tea extra cold, add a handful of ice.