This is a very popular Asian beverage!
I made this with coffee instead of tea and it was very good! I used the raw, large, black pearl tapioca. You can find these ingredients in Oriental grocery stores.
I used the raw large black pearl tapioca. Follow direction on package to prepare. The trick is to cook the tapioca pearls long enough so that they are chewable when done. This takes about 1 hour of boiling with plenty of water. Then drain and cool them. Place them in a container and pour a can of sweetened condensed milk over them. Scoop about 1/4 cup of them into a glass and add iced coffee or tea and serve with milk and sugar. You'll need the large diameter straws (bubble tea) to be able to suck up the tapioca pearls while drinking. They taste similar to gummy bears, but softer.