In a medium saucepan, boil 2 cups of water. Add the dry tapioca pearls, and cook per the manufacturer's instructions. Once done cooking, stir in the 2 tbsp coconut sugar until dissolved, and allow tapioca pearls to soak in the sugar water for 30 minutes.
While the tapioca pearls are soaking, prepare the green tea. Steep 1 jasmine tea bag in 1 cup of hot water for 5-6 minutes. Add the taro powder, 3 tbsp coconut sugar, and 2 tsp vanilla extract. Whisk until everything is dissolved and well blended, then allow to cool to room temp.
Prepare the taro bubble tea. Divide the prepared tapioca balls evenly between 2 glasses. Top each glass with 1/2 cup of the taro tea mixture and 1/4 cup of whole milk. Stir until blended, then top with ice. Grab your boba straws and serve!