Bring the water to a simmer in a medium saucepan. Remove from heat and add the loose jasmine tea. Let the tea leaves infuse for about 2 minutes. Strain the tea leaves and discard.
Fill each glass with 1/2 cup of guava juice and about one teaspoon of agave or maple syrup (adjust to taste). Stir to combine.
Add the ice cubes to each glass and pour in about 1/2 cup of the brewed jasmine tea. Stir to combine and enjoy immediately!