Ce l'ho fatta da sola!
Posto il codice per chi potesse averne bisogno!

codice:
Public Sub popolaTreeTipologie(ByVal miaTree As TreeView)        Dim cmd As New MySqlCommand("SELECT * FROM tipologia ORDER BY parent_Tip ASC", cn)
        Dim da As New MySqlDataAdapter(cmd)
        Dim ds As New DataSet
        da.Fill(ds, "tipologie")
        da.Dispose()
        Dim miaTab As DataTable = ds.Tables("tipologie")


        ciclaTreeViewTipologie(miaTab, 0, miaTree)


    End Sub
    Private Sub ciclaTreeViewTipologie(ByVal miaTab As DataTable, ByVal idPadre As Integer, ByVal miaTree As TreeView, Optional nodoPadre As TreeNode = Nothing)
        For Each riga As DataRow In miaTab.Select("parent_Tip=" & idPadre)
            Dim newNodo As New TreeNode
            If idPadre = 0 Then
                newNodo = miaTree.Nodes.Add(riga("id_Tip"), riga("des_Tip"))
            Else
                newNodo = nodoPadre.Nodes.Add(riga("id_Tip"), riga("des_Tip"))
            End If
            ciclaTreeViewTipologie(miaTab, riga("id_Tip"), miaTree, newNodo)
        Next
    End Sub