Pour water into a small saucepan. Add brown sugar and heat on medium until sugar is dissolved.
Tea
Pour water into a small saucepan. Bring water to a boil. Shut off heat and steep tea bag for 5-7 minutes. Remove tea bag.
Boba
Bring water to a boil. Add tapioca boba and cook 30 minutes on medium heat, stirring every few minutes. (Cooking time will vary depending on the type of boba you get - check directions on package.)
Turn off the heat. Pour boba through a strainer. Add to the simple syrup mixture. Let marinate 15-20 minutes.
For Serving
Scoop boba into two glasses. Pour tea over boba.
Pour soy milk into glasses with tea and boba.
Video
Notes
If you don't use all the cooked boba, store it in the simple syrup mixture for up to 3 days.