Bring water to a boil in a small saucepan; remove from heat. Add tea bags; cover and let steep 3 minutes. Discard tea bags.
Combine tea, cranberry-apple juice drink, and sugar substitute in a pitcher; stir well.
Place 1 cup ice in each of 4 glasses; add 1 cup tea mixture. Garnish drinks with mint sprigs, if desired. Serve immediately.