Steep tea according to package (usually 5 minutes in freshly boiled hot water) or by cold brewing it. Sweeten to taste.
While you wait for the tea to cool down (or to cold steep), cook the boba pearls. Once drained, you may pour some syrup or honey over so they get some sweetness.
Put the cooked tapioca pearls in a cup or glass, add the tea, milk and serve with or without ice cubes.