If using fresh taro root, peel and chop into small cubes, then boil in water over medium-high heat for 10 minutes or until tender; if using taro powder, skip this step.

Add the cooked taro or taro powder to a blender with 1/2 cup water and blend on high until completely smooth, about 30 seconds.

Pour 1 1/2 cups whole milk into a small saucepan and heat over medium heat for 3 to 4 minutes until warm (about 160°F) but not boiling, stirring occasionally.

Add the blended taro mixture to the warm milk and whisk constantly for 1 minute until fully combined and smooth.

Stir in 2 tablespoons sugar and 1/4 teaspoon vanilla extract, whisking until the sugar fully dissolves, about 30 seconds.

Optional: Strain the mixture through a fine mesh strainer into a bowl to remove any remaining lumps.

Divide 1/4 cup cooked tapioca pearls between two glasses or skip for no boba, then add ice cubes if serving cold.

Pour the taro milk tea into the prepared glasses over ice for a cold drink or into mugs for a hot drink, and stir before drinking.