Gently warm 1 cup of unsweetened soy milk in a saucepan over low heat. In a separate bowl, mix 1 tablespoon of agar-agar powder with 2 tablespoons of water until dissolved. Stir into warmed soy milk for 2 minutes. Pour into ramekins and let set for 30 minutes or refrigerate.

Combine 1 cup of brown sugar and 1 cup of water in a medium saucepan. Heat over medium, stirring until sugar dissolves (about 5 minutes). Simmer for 10 minutes until thickened. Cool to room temperature.

Bring 4 cups of water to a boil. Add 1/2 cup of sago pearls, stirring to prevent sticking. Cook for 15 minutes until translucent, then cover and let sit for 15 minutes. Drain and rinse under cold water.

Remove tofu from ramekins, place in bowls, drizzle with cooled syrup, and sprinkle with sago pearls. Serve warm or chilled.