In its earliest phase, Tea-making as an art, or aesthetic, developed in the Zen monasteries and schools. It began to gain popularity amont the nobles/aristocrats, by the late-Ashikaga era (1338-1568 AD/CE).
Master Sen-no-Rikyu (1521-1591) was one of the greatest of the early Tea-masters, who did a great deal to develop and lay down the basic principles of the art; although he cannot be properly called the 'founder'. Among late works, we have manuals such as the famous and very useful The Book of Tea by Okakura Kakuzo (1862-1913).
There continues, even today, a deep and abiding connection between Tea-making and Zen spiritualism. The essential elements of simplicity, rustic/natural harmony and tranquility in Tea-making are reflections of the Zen concepts of sabi-wabi and Jaku, as taught by the great Zen masters.
Like the Sufis of Pakistan and India, these enlightened souls have permeated all fields and aspects of Japanese cultural life.