Tapioca pudding made from scratch is a classic pudding recipe! Six simple ingredients are cooked and mixed to form the creamiest pudding with perfectly chewy tapioca balls. It’s an easy and budget-friendly dessert that can’t be beaten.

Tapioca pudding is one of my mom’s favorite desserts. And as a kid I thought the little tapioca balls were fun to chew on. Today, it remains one of my most frequently made pudding recipes – I just love the creamy vanilla flavor and it turns out perfectly every time!

So what are tapioca pearls? Tapioca is a starch extracted from the cassava root. The pulp is then squeezed to extract a starchy liquid and used to form delightfully chewy tapioca pearls. If you’ve ever drank boba tea, you’ve enjoyed larger tapioca pearls. And the tapioca pearls used in this recipe are small ones.

This homemade tapioca pudding is a dreamy combination of creamy custard and chewy tapioca goodness. The texture is somewhat similar to rice pudding or chia pudding, though I think tapioca pudding is a standout in it’s own right!

Tapioca Pudding Ingredients

• Whole Milk: This is the ideal choice for the creamiest base. But if you’re dairy-free, you can swap that for any dairy-free milk (such as oat milk, almond milk, or cashew milk) and a heavy cream such as coconut cream.
• Sweetener: Any liquid sweetener will work, such as honey or maple syrup.
• Small Tapioca Pearls: Make sure to buy small tapioca pearls, not instant tapioca (also known as “minute tapioca”). I’ve linked my favorite brand in the recipe card below.
• Eggs: Although this is a pudding, it’s more of a custard egg base thickened with tapioca pearls. So two eggs are needed.
• Vanilla Extract & Salt: A dash of both give the pudding extra flavor.

Find the printable recipe with measurements below.

How To Make Tapioca Pudding

Heat the milk and cream. In a medium saucepan over medium heat, add the milk, cream, and honey. Whisk together and bring to a simmer.

Cook the tapioca. Add the tapioca pearls to the saucepan, then reduce the heat to low. Stir intermittently, for about 10 to 20 minutes, until the mixture has slightly thickened and the pearls have softened. Note: The time can vary based on the brand of pearls, so make sure to read the back of your package.

Temper the eggs. In a bowl, whisk together the eggs, vanilla, and salt. While continuously whisking, slowly pour half of the hot cream mixture into the bowl. Don’t pour too fast, or the eggs will curdle!

Stir Together. Return the tempered egg mixture to the saucepan and stir together over low heat for 1 to 2 minutes, or until the pudding has thickened. Keep in mind that the pudding will continue to thicken as it cools.

Serve. Serve warm immediately or chilled. If chilling, transfer the tapioca pudding to a bowl and cover the top with plastic wrap (directly touching the surface of the pudding) to prevent a skin from forming. Chill it in the fridge for at least 2 hours or overnight and serve cold. If the tapioca pudding thickens too much after chilling, simply thin it back down by stirring in a few tablespoons more milk.

Common Questions

More Easy Desserts

• Panna Cotta: This Italian custard couldn’t be any easier.
• No Bake Cookies: The best no-bake cookie for the holidays.
• Homemade Nutella: This version is 10x better with no funky ingredients.
• Chocolate Chia Pudding: A delicious and healthy chocolate treat.
• Or take a peek at this category of dessert recipes!