Prepare instant tapioca pearls according to packet instructions. Once cooked, strain and soak in 2 tbsp maple syrup while you prepare the rest of the drink.
In a small bowl, add the hot water and matcha powder. Whisk until smooth with no lumps.
Add the remaining 1 tbsp maple syrup and vanilla syrup to the matcha mixture. Stir to combine.
Heat the a2 Milk® Lactose Free Full Cream in a saucepan until it just starts to bubble. Remove from heat and froth using a handheld milk frother.
Add the tapioca pearls and ice to a tall glass. Pour in the matcha mixture, then top with frothed milk.
Stir gently and serve immediately.
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