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Combine water and brown sugar in a pan. Simmer over very low heat until dissolved.
Add 1 tablespoon of tapioca flour and stir until fully incorporated.
Turn off heat then add the remaining tapioca flour. Stir until dough is formed.
Transfer to a flat surface and knead until smooth. Place a plastic foil on top of the dough. Flatten using a rolling pin to about 1 cm thick, then cut into small squares.
Roll the pieces into small balls then place them in a bowl with 1 tablespoon of tapioca flour. Shake the bowl lightly every now and then to make sure the pearls are covered with flour and not sticking together.
Pour the Boba pearls into boiling water and leave for 10 minutes. Stir occasionally.
Add 2 cups of brown sugar and stir. Leave it to boil for another 5 minutes.
Divide the syrup and boba pearls into 4 tall glasses. Tip the glass to the side and slowly roll until the sides are completely covered with syrup.
Add milk and ice, then stir them all together with the straw.