Bring 2 cups of water to a boil. Add in tea bags and allow to steep for 15-30 minutes. Remove tea bags.
While tea is steeping, combine 1/2 cup water and 1/2 cup sugar in a small saucepan over medium-high heat. Stir constantly until sugar dissolves. Remove from heat and allow syrup to cool completely.
In a clean saucepan, bring 3 cups of water to a boil. Add tapioca pearls. Stir often until the tapioca pearls float to the top of the water. Reduce heat to medium-high and simmer for about 5 minutes until the tapioca pearls are soft.
Remove the pan from heat and use a slotted spoon to remove the tapioca pearls from the water. If not using right away, cover the pearls with simple syrup to keep them soft.
To assemble the drinks, pour 1 cup of tea into each glass. Divide the tapioca pearls evenly between the glasses. Add a few ice cubes. Add 1-2 Tablespoons of milk of your choice. Add 1-2 Tablespoons of simple syrup, honey, or the sweetener of your choice, to taste. Serve with a wide straw that is large enough to let the tapioca pearls pass through.