Peel and cube the taro root into 1-inch pieces.

Steam the taro: Fill a small saucepan with 2 inches of water and bring to a boil. Place taro cubes in a steamer basket or colander, cover, and steam for 15 to 20 minutes until tender.

Blend the taro base: Transfer steamed taro to a blender. Add sweetened condensed milk, heavy cream, vanilla extract, and 1/2 cup whole milk. Blend on high for 60 to 90 seconds until smooth, adding more milk if needed to reach a pourable consistency.

Make the boba dough: In a bowl, combine tapioca starch and a pinch of salt. Slowly pour in boiling water while stirring until a slightly sticky dough forms.

Knead and rest dough: When cool enough to handle, knead dough on a clean surface for 2 to 3 minutes until smooth and elastic, dusting with starch if sticky. Cover with a damp towel and rest for 5 minutes.

Roll pearls: Divide dough into small pieces and roll between your palms into pea-sized balls. Place on a plate dusted with tapioca starch.

Cook boba: Bring a large pot of water to a rolling boil. Add pearls and stir immediately. Cook until they float (3 to 5 minutes), then simmer for an additional 8 to 10 minutes until translucent with a tiny white center.

Make syrup: In a small saucepan, combine brown sugar, honey, and 1/4 cup water. Heat gently until sugar dissolves, then cool.

Coat boba: Drain cooked pearls using a fine-mesh strainer and rinse under cold water. Transfer to a bowl and stir in 2 to 3 tablespoons of the syrup to coat.

Assemble drinks: Fill two tall glasses with ice. Pour 3/4 cup of taro base into each glass, then top with 1/2 cup whole milk. Stir gently, add coated boba pearls, and serve with wide straws.