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    Home » Recipes » Desserts (No Bake) » Tapioca Pudding recipe from scratch

    LAST UPDATED: October 23, 2021 • FIRST PUBLISHED: April 6, 2021 By Toni Dash 36 Comments

    Tapioca Pudding recipe from scratch

    Jump to Recipe

    This post may include affiliate links. As an Amazon Associate I earn from qualifying purchases.

    TAPIOCA PUDDING TITLE

    Rich, creamy Tapioca Pudding is a classic dessert recipe everyone loves. Its whimsical texture and creamy custard never go out of style.

    TAPIOCA PUDDING TITLE

    This is that tapioca pudding your mom….or grandmother used to make.

    Sure, you can buy it premade at the store. But one bite of the homemade version will remind you why it has always been a favorite.

    Once you make it you’ll see why. It’s creamy, rich, comforting.

    Jump to:
    • Luscious Tapioca Recipe
    • Recipe Ingredients Notes
    • Variations
    • Do tapioca pearls need to be soaked first?
    • What is tempering eggs?
    • How to Make it – Step-by-Step
    • Pro Tips
    • Frequently Asked Questions
    • Storing Leftovers
    • More Recipes You’ll Love!
    • Recipe
    tapioca pudding in dessert glass

    Luscious Tapioca Recipe

    Sometimes it’s just nice to do things the old fashioned way. And one bite will let you know why.

    There’s just something about the creamy vanilla-flavored pudding with the tiny tapioca orbs that keep generation after generation making and loving it.

    You can eat it warm or cold.

    Eat it as is or load it up with toppings (check our ‘Variations’ section below for ideas).

    Recipe Ingredients Notes

    tapioca pudding ingredients

    Tapioca. Use ‘small pearl tapioca’ (it will be noted on the package) and do not use Instant Tapioca.

    You’ll find tapioca pearls with the baking supplies. They are naturally gluten-free too.

    Be sure NOT to use the large pearl tapioca used for making Boba or milk tea. We used it for this Spider Egg Pudding but it’s not the right type for classic tapioca pudding.

    Milk. We recommend whole milk for the best results.

    Salt. Use kosher salt if possible. It’s a less salty flavored salt.

    Eggs. You’ll need two.

    Granulated sugar. This gives the tapioca pudding just the right amount of sweetness. You’ll need 1/2 cup.

    Variations

    Coconut tapioca. Instead of dairy milk use coconut milk for a light coconut flavor.

    Use less sugar. If you’d like to lighted up the sugar it can be reduced to 1/3 cup. In our tested we felt 1/2 cup was ‘just right’ but it’s still sweet with 1/3 cup too.

    Use one egg. The eggs give richness but it can be reduced to one egg if desired.

    Use some cream. For an even richer pudding, replace some of the milk with cream. Still use a total of 3 cups of milk or milk plus cream.

    Topping ideas. Sprinkle on some cinnamon or nutmeg. Add a dollop of whipped cream. Add some sliced berries or bananas.

    tapioca pudding from overhead

    Do tapioca pearls need to be soaked first?

    Read the instructions on the package of tapioca pearls you use regarding soaking.

    Some versions require soaking first. For time saving we used a version that did not require soaking.

    If using a soaked tapioca decrease the milk to 2 1/2 cups. Monitor the cooking time too as it may be faster.

    Sample the pudding when it is done to determine if the pearls are softened and cooked.

    What is tempering eggs?

    One of the most important steps in making any custard with eggs is ‘tempering’ the eggs.

    This is a method of adding just a bit of hot liquid to the eggs and whisking it in to gently warm the eggs.

    The eggs are then added to the hot liquid and whisked to ensure the eggs don’t scramble when added.

    If eggs are added directly to the heated milk they would scramble and not integrate to make the rich, creamy custard.

    How to Make it – Step-by-Step

    STEP 1. Heat the tapioca mixture

    Combine the milk, tapioca pearls, sugar and salt in a heavy, medium saucepan over medium heat (photo 1).

    Stir often until the mixture is foamy on top and almost simmering.

    Reduce heat to low.

    Cook until the tapioca pearls are translucent and plump; 20-35 minutes.

    tapioca pudding recipe steps 1-3

    STEP 2. Mix eggs and vanilla extract

    Combine the eggs and vanilla extract in a mixing bowl; whisk (photo 2).

    STEP 3. Temper the eggs

    Add a few large spoonfuls of the hot tapioca mixture into the egg mixture.

    Whisk constantly to mix together and prevent the eggs from scrambling (photo 3).

    Slowly return the mixture to the saucepan (photo 4). and whisk constantly to mix in.

    STEP 4. Finish the tapioca

    Increase the heat to medium and stir constantly until the tapioca thickens (photo 5); approximately 5 minutes.

    Remove from heat and cool for 20 minutes before serving (it will continue to thicken).

    tapioca pudding recipe steps 4-5

    Pro Tips

    Set plastic wrap on the surface of the pudding while it cools. This is a trick used for making curd recipes too.

    It prevents a skin from developing on the top of the pudding!

    Tapioca thickens as it cools. If the pudding doesn’t look completely thickened when the cooking ends don’t worry! It will continue to thicken as it cools.

    tapioca pudding on spoon

    Frequently Asked Questions

    What are the balls in tapioca pudding?

    Those are tapioca pearls which come from a starch harvested from cassava root. The pearls only add texture. On their own they don’t have much flavor. The flavor comes from the pudding ingredients.

    Can tapioca be made with almond milk?

    Yes! Try this slow cooker almond milk tapioca version. Coconut milk can be used too.

    Storing Leftovers

    Allow the pudding to fully cool. Place in an airtight container in the refrigerator for up to 1 week.

    tapioca pudding with spoon

    More Recipes You’ll Love!

    • Slow Cooker Pumpkin Spice Tapioca Pudding (vegan)
    • Slow Cooker Light Almond Milk Tapioca Pudding {dairy-free}
    • Swampy Frog Egg Pudding
    • Cranberry Tapioca with Orange-Nutmeg Whipped Cream
    • Easy Salad Recipe in Red, White and Blue
    Did you make it? Please RATE THE RECIPE below!
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    Recipe

    tapioca pudding sq

    Tapioca Pudding

    This tapioca pudding is so rich and creamy. It can be served warm or chilled. The flavors of vanilla, milk, and vanilla, with a creamy sweet tapioca base makes this dessert a household favorite. Prep Time 5 Minutes Cook Time 25-30 Minutes Serves 4 Makes: slightly less than 3 cups 5 ½ cup servings
    5 from 29 votes
    Print Save Recipe Recipe Saved! Pin Rate
    Course: Dessert
    Cuisine: American
    Prep Time: 5 minutes
    Cook Time: 24 minutes
    Cooling Time: 20 minutes
    Total Time: 49 minutes
    Servings: 5 1/2 cup servings (total yield: slightly less than 3 cups)
    Calories: 250kcal
    Author: Toni Dash
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    Ingredients

    • ½ cup small pearl tapioca not instant
    • 3 cups whole milk
    • 1/4 teaspoon kosher salt
    • 2 eggs
    • 1/2 cup granulated sugar
    • 1 1/2 teaspoons vanilla extract

    Instructions

    • Add the milk, tapioca, granulated sugar and salt to a medium heavy saucepan. Stir to fully combine.
    • Cook over medium heat just until it is almost simmering (it will look foamy) and reduce the heat to low.
    • Cook stirring often, scraping the bottom of the pan to avoid the tapioca pearls sticking to the pan or the mixture burning. Cook until the tapioca pearls are plump and transluscent which can take between 20-35 minutes.
    • In a separate mixing bowl whisk together the eggs and vanilla extract.
    • Add a couple spoonfuls of the hot tapioca mixture to the eggs and whisk constantly to incorporate. Whisking is key to prevent the eggs from scrambling.
    • Slowly transfer the mixture back into the tapioca saucepan and again whisk constantly to mix in.
    • Increase the temperature to medium and stir constantly until the tapioca thickens; around 5 minutes. Remove from heat, place a piece of plastic wrap on the surface of the tapioca and allow to cool 20 minutes.
    • Seal in an air tight container for up to 3 days.

    Notes

    Tapioca Pearls
    • Use small tapioca pearls.
    • Do not use ‘instant tapioca’.
    • We used Bob’s Red Mill Small Tapioca Pearls which do not need to be soaked.
    • Check the package for the brand you use regarding soaking. If using a version that needs to be soaked, reduce the milk to 2 1/2 cups when preparing the recipe.
    Cooking Pro Tips
    When heating the tapioca mixture, stir often scraping the bottom of the saucepan. This helps prevent burning or the tapioca from sticking to the bottom of the pan.
    Storing the tapioca pudding
    Allow it to fully cool. Add to an airtight container and refrigerate for up to 1 week.
     

    Nutrition

    Calories: 250kcal | Carbohydrates: 41g | Protein: 7g | Fat: 6g | Saturated Fat: 3g | Trans Fat: 1g | Cholesterol: 80mg | Sodium: 205mg | Potassium: 221mg | Fiber: 1g | Sugar: 28g | Vitamin A: 332IU | Calcium: 179mg | Iron: 1mg
    Did you make this recipe?Mention @boulderlocavore or tag #boulderlocavore!
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    ABOUT THE AUTHOR

    TONI DASH
    Toni Dash head shot

    Toni Dash, is a Certified Nutrition Coach and the writer/blogger, photographer, recipe developer and creator of Boulder Locavore®. She has been developing easy to make, well-tested recipes since 2010. Her seasonal recipes bring excitement to the dining table for both gluten-free and gluten diners. Toni has been featured in numerous publications and on culinary websites for her creative, delicious recipes and travel features. For more details, check out her About page.

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      Recipe Rating




    1. Sandra Mort says

      September 10, 2021 at 7:31 pm

      It looks delicious but it’s using packaged tapioca. That’s not “TAPIOCA PUDDING RECIPE FROM SCRATCH”.

      Reply
      • Toni Dash says

        September 10, 2021 at 11:00 pm

        Hi Sandra. It actually is tapioca from scratch. It’s not made from a box of tapioca. You can buy tapioca pearls in many forms and as an independent ingredient as called for in this recipe.

        Reply
    2. Chau Phung says

      April 21, 2021 at 12:48 am

      5 stars
      This looks yummy and easy to make. In my country, we have a similar version. Instead of milk, we use coconut milk and added pandan extract to enhance the flavor. We usually eat it hot rather than cold. Besides, these small tapioca pearls are used in lots of desserts. They are often served as a condiment for the main ingredients of desserts. When I was a little girl, I never get bored of eating these pearls one by one, so I could prolong my dessert to eternity ^^ Thanks for sharing the recipe with us. Now I know the different versions of tapioca pearls dessert to add to the variety of desserts.

      Reply
    3. Marion says

      April 08, 2021 at 3:27 am

      5 stars
      I have not made tapioca from scratch for…..well, I don’t remember how long. Like you I remember my mother and grandmother making it but for some reason I don’t. Anyway it was easy and absolutely delicious.

      Reply
    4. Nancee says

      April 08, 2021 at 2:11 am

      5 stars
      I haven’t had homemade tapioca since I was a child! This recipe is easy and SO delicious.

      Reply
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    Welcome! I’m Toni. I’m a Certified Nutrition Coach and my goal is to MAKE YOUR LIFE EASIER with delicious, well-tested recipes and travel tips! More About Me …

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