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Boil ¾ cup of water.If using an electric kettle with a temperature setting, set the water to 175°F. Use filtered water if possible.
Steep tea bags in hot water for 4 minutes.
Discard tea bags and let tea cool. Set aside.
Boil water and add tapioca balls.Boil water in a saucepan on the stovetop then add tapioca balls. Cook on medium-high heat for 8-10 minutes. Stir occasionally. Tapioca balls should be soft all the way through.(Follow directions on your tapioca ball packaging if you're using a different brand than the one I’m using.)
Drain tapioca balls.
Combine tea, milk, sweetened condensed milk, taro powder, and ½ cup ice in a cocktail shaker. Shake 10 times.
Put tapioca balls into a cup, add taro milk tea and ice.Use an extra wide straw to drink.