In a pot over medium heat, combine coconut milk, milk, and sugar.
Bring mixture to a boil and remove from heat. Set side.
Peel taro root then cut into slices and using a cookie cutter press out shapes. (Or dice into small 1/2-inch cubes) Steam until tender and a fork or toothpick pricks through, about 10 – 15 minutes and set aside.
In a small pot, cook sago pearls according to instructions on the package then set aside.
Dice grass jelly into small cubes.
Add all the prepared toppings to the coconut milk base. Stir to combine and enjoy! (Can be served hot or cold; chill for 2-4 hours if serving cold)