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 instructions, typically 20 to 30 minutes, until the pearls are tender and chewy throughout. Remove from heat, drain well, and rinse under cold running water to halt cooking. Set aside.
02 - Place the diced mango, granulated sugar, whole milk, water, and lime juice into a blender. Blend on high until completely smooth and no chunks remain. Taste and adjust sweetness as desired.
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 equally. For extra creaminess, drizzle 1 to 2 tablespoons of sweetened condensed milk over the top of each glass.
04 - Stir each glass gently to combine all layers. Serve immediately with wide boba straws to enjoy the tapioca pearls.