In a high-powered blender, add the mashed, cooked taro, condensed milk, vanilla extract and almond milk (or milk of your choice), along with the purple sweet potato powder (if using). Blend until smooth.
Add boba pearls to a drinking glass, fill with ice, and pour the blended taro milk over top.
Serve immediately.
Notes
Note: this particular version doesn't contain tea, which makes it suitable for kids and those who are sensitive to caffeine.