Bring water to a boil and cook tapioca pearls according to package instructions.

Let pearls rest covered 10 minutes, then drain.

Simmer brown sugar and water until syrup forms, then coat pearls.

Whisk milk, maple syrup, vanilla, and salt.

Stir in chia seeds and whisk again after 5 minutes.

Refrigerate pudding at least 2 hours until thick.

Layer pudding and boba in glasses.

Top with whipped cream and syrup, then serve.