- Place almond milk in a large saucepan and warm over medium heat.
- Once the almond milk is hot (170°F-185°F), about 5 minutes, add the sweetened condensed milk, and whisk until dissolved.
- Remove the saucepan from the heat, add the matcha tea powder, and stir to combine with the milky mixture. Set aside to steep, at room temperature, for 5 minutes, transfer to a sealable container, and refrigerate until chilled.
- Divide half of the cooked tapioca pearls between drinking glasses and top with ice. Add the matcha milk mixture to the glasses and top with the remaining tapioca before serving.