Cook the Tapioca Pearls Start by cooking the tapioca pearls according to the package instructions.
Most tapioca pearls take about 15-20 minutes to cook. Once cooked, drain the tapioca pearls and rinse them under cold water.
Brew the Coffee While the tapioca pearls are cooking, brew a cup of coffee using your preferred method. Let the coffee cool down to room temperature.
Prepare your milk of choice In a separate container, mix the milk and brown sugar until the sugar dissolves.
Fill a glass with ice cubes and add the cooked tapioca pearls. Pour the cooled coffee over the ice and tapioca pearls. Top it off with the sweetened milk mixture.