Cook the tapioca pearls according to manufacturer instructions. Strain and set aside to cool.
Meanwhile, heat the water to a boil, then steep the Jasmine tea for 5-6 minutes. Remove the bag of tea and stir in the sugar until fully dissolved. Set aside to cool for at least 15 minutes.
Assemble the Mango Milk Tea: Add the tapioca pearls to a tall glass, then top with ice. Pour in the Jasmine tea, then mango nectar. Stir, then top with milk of choice. Drink up!