01 - Bring 4 cups of water to a rolling boil in a medium saucepan. Add the black tapioca pearls and stir gently to prevent sticking. Cook according to package directions, typically 20 to 30 minutes, until the pearls are tender and chewy throughout. Remove from heat, drain through a fine mesh strainer, and rinse under cold running water. Set aside.
02 - Combine the diced mango, granulated sugar, whole milk, water, and fresh lime juice in a blender. Blend on high until completely smooth and creamy. Taste the mixture and adjust sweetness as desired by adding more sugar if needed.
03 - Divide the cooked tapioca pearls evenly between two large glasses. Fill each glass with ice cubes. Pour the mango milk blend over the pearls and ice, dividing it equally between the two servings.
04 - Drizzle 1 to 2 tablespoons of sweetened condensed milk over each glass for extra creaminess. Stir gently to combine and serve immediately with wide boba straws to enjoy the tapioca pearls.