Cook the tapioca pearls according to package instructions. After cooking, drain and add the tapioca to cold water for half a minute. Then drain and add the tapioca to a bowl with honey, lightly stirring.
Prepare a 16 ounce or larger glass. Add ice cubes. Pour in coffee followed by milk. Scoop tapioca pearls into the drink, including any remaining honey. Insert a thick straw and give a quick stir. Drink immediately.