Place tapioca pearls, water, and black tea in the inner of the Instant Pot.
Close lid and position valve in the sealing position. Cook on high pressure for 2 minutes.
Do a quick release. Carefully open the lid. Remove and discard the tea bags.
Set on SAUTE function. Add sugar and cook for about 1 to 2 minutes or until dissolved.
Turn off SAUTE FUNCTION and allow the tea mixture to cool completely.
In a serving glass, combine boba, ice, and tea. Add milk as desired and shake to distribute. Serve with a straw.
Video
Notes
Do not refrigerate the cooked tapioca pearls as they get harder and lose their chewiness when cold. If you want to chill the tea in the refrigerator, remove the boba and store separately in a simple syrup.