In a medium saucepan, combine the tapioca pearls and brown sugar.
Add water to cover the pearls by 1 inch. Bring to a boil over high heat, then reduce the heat to low and simmer for 30 minutes.
Drain the pearls and rinse with cold water. Set aside.
In a large pot, bring 4 cups of water to a boil. Remove from the heat and add the tea. Steep for 3 minutes, then strain.
Add the milk and honey to the tea and stir until combined.
Divide the tapioca pearls among glasses filled with ice (if desired). Pour the tea over the pearls and serve immediately.