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Lightly scented with vanilla and cinnamon, this homemade Tapioca Pudding Recipe is a delicious, creamy walk down memory lane. Or maybe it’s your new favorite naturally gluten-free dessert!
I love the family-style restaurants where dessert is included with your meal (ahem, fish fry). And the waitress rattles off lots of options such as chocolate cake, cheesecake, red JELL-O, chocolate pudding, rice pudding, or ice cream (vanilla, chocolate, butter pecan, and rainbow sherbet). And tapioca pudding!
And do you want that with or without whipped cream? How about a whisper of cinnamon?
After my stint as a waitress, I discovered that some restaurants serve tapioca pudding from a can. But we’re going to do it from scratch, and it’s guaranteed to exceed your expectations. I love the variety of textures (creamy base, chewy tapioca pearls) and the lightly sweetened flavor.
Table of Contents
Recipe ingredients
At a Glance: Here is a quick snapshot of what ingredients are in this recipe.
Please see the recipe card below for specific quantities.
Ingredient notes
- Tapioca pearls: Instant tapioca, minute tapioca, or “tapioca granules” will not work in this recipe; you want the real deal of “small tapioca pearls.” Note: There isn’t much standardization for white tapioca pearls, so they’re available in a wide range of sizes. That’s okay, because the pre-soaking step will compensate for any variations between large pearl tapioca and small pearl tapioca.
- Cinnamon-sugar topping: Try 1 tablespoon granulated sugar + 1 teaspoon cinnamon. Mix and sprinkle over the whipped cream, and save the rest for cinnamon toast, oatmeal, or popcorn.
Step-by-step instructions
- In a double boiler over medium heat, heat milk to room temperature (about 70 degrees F). Stir in the tapioca and salt and heat until small bubbles appear at the sides of the pan (about 170 degrees F). Cover, turn the heat to the lowest possible setting, and cook for one hour. Do not let the milk simmer or boil.
- In a bowl, whisk together sugar and egg yolks. To temper the egg yolks, whisk in 2 tablespoons of the hot milk mixture, stirring constantly.
- Add to the hot liquid milk mixture to the hot tapioca mixture in the double boiler, increase heat to medium-low, and cook until the tapioca is thick, about 15 minutes. Remove from heat, stir in the vanilla and let cool.
- Chill at least 30 minutes. The pudding will continue to thicken as it chills. Serve with whipped cream and a sprinkle of cinnamon sugar topping, if desired.
Recipe tips and variations
- Yield: One recipe makes 8 servings.
- Make ahead: Tapioca can be made up to 3 days before you need it; just cover and keep chilled.
- Storage: Store leftovers in the refrigerator in an airtight container, ideally with a sheet of plastic wrap pressed right up against the surface of the pudding (to prevent skin from forming on top of the pudding).
- Milk: I used low-fat milk in this recipe, but whole milk will be even richer and more delicious.
- Vegan tapioca pudding: You can also substitute any kind of dairy-free, plant-based milk: coconut milk, nut milk, almond milk, and soy milk will all work.
- Brown sugar: For deeper flavor, try brown sugar in place of the granulated sugar.
- Too thick: If the pudding is thicker than you prefer, add a splash of milk to the pan and stir.
- DIY double boiler: To make a double boiler, you need 2 pots, one of which fits inside the other. Add one to two inches of water in the bottom of the pan saucepan. Next, fit the top pot (or bowl) inside (make sure the water doesn’t touch the upper pot) and turn on your stove to a simmer. As the water heats up and steam is released, the steam stays trapped between the two pots, which then heats the ingredients in the top pot.
- Add-ins: Much like with rice pudding, you can jazz up homemade Tapioca Pudding with a variety of mix-ins and toppings. Switch up the spices (ground ginger, cardamom, nutmeg) or add fruit, nuts, or lemon zest. Or, dust with cocoa powder.
Frequently Asked Questions
Tapioca is a type of starch from the cassava root which is native to Brazil. It functions as a thickening agent.
For the lightest, airiest, fluffiest tapioca pudding of all, separate the egg whites from the egg yolks of your large eggs. Beat the egg whites until soft peaks form, then fold into the tapioca mixture with the vanilla and cool.
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Tapioca Pudding Recipe
Ingredients
- 2 1/2 cups milk
- 1/2 cup small pearl tapioca soaked overnight and drained (see note 1)
- 1/4 teaspoon salt
- 1/2 cup granulated sugar
- 2 eggs yolks
- 1 teaspoon vanilla extract
- whipped cream for serving
- cinnamon sugar topping for sprinkling (see note 2)
Instructions
- In a double boiler, heat milk to room temperature (about 70 degrees F). Stir in the tapioca and salt and heat until small bubbles appear at the sides of the pan (about 170 degrees F). Cover, turn the heat to the lowest possible setting, and cook for one hour. Do not let the milk simmer or boil.
- In a bowl, whisk together sugar and egg yolks. To temper the egg yolks, whisk in 2 tablespoons of the hot milk mixture, stirring constantly. Add to the milk mixture in the double boiler, increase heat to medium-low, and cook until the tapioca is thick, about 15 minutes.
- Remove from heat, stir in the vanilla and let cool. Chill at least 30 minutes. The pudding will continue to thicken as it chills. Serve with whipped cream and a sprinkle of cinnamon sugar topping, if desired.
Notes
- Tapioca pearls: Soak the tapioca pearls in cool water overnight, at least 8 to 12 hours, to hydrate. Drain off the soaking water. Instant tapioca, minute tapioca, or “tapioca granules” will not work in this recipe; you want the real deal of “small pearl tapioca.” Note: There isn’t much standardization for white tapioca pearls, so they’re available in a wide range of sizes. That’s okay, because the pre-soaking step will compensate for any variations.
- Cinnamon-sugar topping: Try 1 tablespoon granulated sugar + 1 teaspoon cinnamon. Mix and sprinkle over the whipped cream, and save the rest for cinnamon toast, oatmeal, or popcorn.
- Yield: One recipe makes 8 servings.
- Storage: Store in the refrigerator with a sheet of plastic wrap pressed right up against the surface (to prevent a skin from forming on top of the pudding).
Nutrition
Meggan Hill is a classically-trained chef and professional writer. Her meticulously-tested recipes and detailed tutorials bring confidence and success to home cooks everywhere. Meggan has been featured on NPR, HuffPost, FoxNews, LA Times, and more.
As a youngster I loved my mothers Tapioca pudding! Not the tiny Tapioca, but the pea size.
I will enjoy making this pudding in memory of mom. She was a wonderful cook!