Bring 4 cups of water to a boil in a large pot. Add the tapioca pearls and cook according to package directions until they turn soft and chewy. Drain and set aside.

In a separate pot or kettle, boil the remaining 1 cup of water and steep the black tea bags for 5 minutes. Remove the bags and let the tea cool slightly.

In a blender, combine the taro powder, sugar, and milk. Blend until the mixture is smooth and the taro powder is fully dissolved.

Divide the cooked tapioca pearls among four glasses. Pour the cooled tea over the pearls, then add the taro milk mixture.

Add ice cubes to each glass and stir gently before serving.