Combine brown sugar and 1 cup water in a saucepan. Cook over medium-high heat, stirring until dissolved. Bring to a boil, then adjust the heat to keep it bubbling gently. Cook for 12–15 minutes, until slightly thickened. Turn off the heat and add vanilla.
Bring 6 cups water to a boil. Add the pearls and stir right away. Cook over medium heat for about 20 minutes, or follow the package directions, until translucent and tender.
Drain and rinse the pearls under cold water. Mix with 2 tablespoons of syrup.
Drain the tofu and place in a microwave-safe bowl. Microwave for about 1 minute, or until warm. You can also use a steamer.
Scoop thin slices of tofu into cups. Add the pearls and syrup to taste.
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Notes
Tofu: Use soft silken tofu for a smooth, custard-like texture.
Sago or tapioca pearls: Small pearls cook faster. Follow the package cooking time.
Brown sugar: Dark brown sugar makes a darker syrup with a stronger molasses taste. Light brown sugar also works.
Vanilla: You can use pandan leaves instead. Add them while the syrup cooks, then remove afterward.