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Soak the tapioca: In a medium bowl, soak the tapioca pearls in 1 1/2 cups of cold water for about 30 minutes. After soaking, drain and set the tapioca aside.
Cook the tapioca: In a medium saucepan, combine the milk, sugar, and salt. Cook over medium heat, stirring occasionally, until the milk is hot but not boiling.
Add the tapioca: Add the soaked and drained tapioca to the milk mixture. Cook, stirring constantly, until the tapioca pearls begin to soften and the mixture thickens. This will take about 15-20 minutes.
Temper the eggs: In a separate bowl, beat the eggs. Once the tapioca mixture is thickened, carefully ladle about a cup of the hot mixture into the eggs while whisking constantly to temper them.
Combine and cook: Slowly pour the egg mixture back into the saucepan with the tapioca, whisking constantly. Continue to cook over medium-low heat for another 3-5 minutes until the pudding has thickened to your desired consistency.
Finish: Remove from heat and stir in the vanilla extract.
Cool: Let the pudding cool for a few minutes before serving. You can serve it warm or chilled, depending on your preference.
Optional: For extra flavor, you can add a sprinkle of cinnamon, nutmeg, or some fresh fruit on top when serving.
