1. Boil water for tea. Add ½ cup of boiling water to a mug with the tea bags, and let steep for 5 minutes.
Discard the tea bags and let cool completely. Set aside. Your goal here is a strongly flavored black tea concentrate.
2. To make the brown sugar syrup, combine brown sugar and water in a saucepan and heat over medium heat, stirring often until the sugar dissolves.
Bring to a boil, then add tapioca pearls and reduce heat to low. Cook for 10-15 minutes, or until the syrup has thickened and the tapioca pearls are cooked. Let cool slightly.
3. Transfer the brown sugar syrup and boba to a glass. Add ice, tea, whole milk, and sweetened condensed milk,
Gently stir with a spoon to combine the ingredients. The result should be a sweet, creamy, light-colored drink.