4 cups milk
2/3 cup small tapioca pearls
3 egg yolks, lightly beaten
2/3 cup sugar
1 teaspoon vanilla extract
Pour milk into a thick-bottomed pot. Add the tapioca and soak for 60 minutes. Whisk in the egg yolks, sugar and vanilla. Over medium heat slowly bring the mixture just barely to a boil, stirring all along - this should take about 15 minutes.
Reduce the heat and let the mixture fall to a simmer - you keep it here until the tapioca is fully cooked, another 5-10 minutes or so. Keep in mind this time can be significantly longer (or shorter). When the tapioca beads swell up and become almost entirely translucent, the custard is ready.
Remove from heat and let cool a bit. This tapioca custard tastes its best when served warm, but I also enjoy it when it's cold.
Tapioca Pearls - I bought these from my local Asian grocer.
....to luscious, velvety custard.