Make tapioca pearls by boiling 5 cups of water for every 1/2 cup of pearls. Once they float to the surface, boil 3 minutes more. Remove from water using a slotted spoon and place into a dish until ready to use.
Add sweetened condensed milk and stir until combined. Add regular milk and stir. Split tapioca pearls and milk tea between 2 glasses, add ice to each and enjoy!