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First, soak the tapioca.
If the packaging doesn’t specify how long to soak the tapioca, give it at least 30 minutes.
2. Get the Pudding Mixture Ready.
After the tapioca pearls have soaked, drain them and put them in the pot with the pudding ingredients.
To avoid the tapioca from sticking to the pan, bring the mixture to a moderate boil in a saucepan over medium heat while stirring regularly.
Turn the heat down to low and simmer, stirring occasionally, for 15 to 20 minutes after the mixture boils.
Take the pan from the stove and, if using, whisk in the vanilla essence.
Serve the tapioca pudding immediately or divide among many dishes.
Allow the pudding to cool somewhat before serving, or chill it in the refrigerator for a few hours for a chilled dessert.