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 directions, typically 20 to 30 minutes, until the pearls are tender and chewy throughout. Remove from heat, drain thoroughly, and rinse under cold running water to halt cooking. Set aside.
02 - Combine the diced mango, sugar, whole milk, water, and lime juice in a blender. Blend on high until completely smooth and creamy. Taste the mixture and adjust sweetness by adding more sugar if 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. Drizzle 1 to 2 tablespoons of sweetened condensed milk over each glass for extra creaminess if desired.
04 - Stir gently to combine all layers and serve immediately with wide boba straws to enjoy the tapioca pearls.