- Step 1: Soak the Tapioca In a medium bowl, combine the tapioca pearls and enough cold water to cover them. Let the tapioca soak for at least 30 minutes or as directed on the package instructions.
- Step 2: Prepare the Pudding Mixture In a heavy-bottomed saucepan, whisk together the sugar, milk, eggs, and salt until well combined. Drain the soaked tapioca pearls and add them to the saucepan with the pudding mixture.
- Step 3: Cook the Pudding Place the saucepan over medium heat and bring the mixture to a gentle boil, stirring constantly to prevent the tapioca from sticking to the bottom of the pan. Once boiling, reduce the heat to low and let it simmer gently for 15-20 minutes, stirring frequently. Continue to cook until the tapioca pearls are translucent and the mixture has thickened to a pudding-like consistency. Remove the saucepan from the heat and stir in the vanilla extract, if using.
- Step 4: Serve and Garnish Transfer the tapioca pudding to individual serving bowls or a large serving dish. Allow the pudding to cool slightly before serving, or chill it in the refrigerator for a few hours for a cold dessert. Garnish each serving with a sprinkle of ground cinnamon or nutmeg, if desired.
