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Silky tapioca pudding with tender pearl tapioca in a creamy, vanilla custard is a classic, family-style comfort dessert. This old-fashioned treat is a beloved American diner and cafeteria staple.
In a medium saucepan, soak 0.5 cup small pearl tapioca in 2 cups of the whole milk for 30 minutes, allowing the pearls to plump.
After soaking, place the saucepan over medium-low heat and bring to a gentle simmer, stirring frequently to prevent sticking. Cook for 15 minutes, watching for the pearls to become translucent.
In a separate bowl, whisk together 2 eggs with 0.5 cup granulated sugar and 0.25 tsp salt until well combined.
Slowly ladle about 1 cup of the hot milk-tapioca mixture into the egg mixture, whisking constantly to temper and avoid curdling.
Return the tempered egg mixture to the saucepan. Cook over medium-low heat, stirring constantly, for 5–10 minutes until the pudding thickens enough to coat the back of a spoon—do not let it boil.
Remove from heat, stir in 2 tsp vanilla extract, and transfer pudding to a bowl or serving cups. Lay plastic wrap directly on the surface to prevent a skin from forming. Chill until set and serve cold.
