Place the tapioca pearls in a medium bowl and cover with 1 cup of cold water. Let soak 30 minutes (or up to 2 hours) until pearls are plump and mostly translucent. Drain and set aside.

Prepare vanilla

If using a vanilla bean: split lengthwise and scrape seeds with the back of a knife. Reserve seeds and pod. If using extract, set it aside to add later.

Heat milk and cream

In a heavy-bottomed saucepan, combine the whole milk, heavy cream, and the reserved vanilla bean pod and seeds. Warm over medium heat until the mixture is hot and steamy but not boiling (small bubbles will form at the edges), about 5–7 minutes.

Cook tapioca

Remove the vanilla pod. Add the drained tapioca pearls and 1/2 cup of the sugar to the hot milk mixture. Reduce heat to low–medium and simmer, stirring frequently to prevent sticking, until pearls turn translucent and mixture thickens, 12–18 minutes. If mixture becomes too thick before pearls are translucent, add up to 1/4 cup more milk and continue cooking.

Temper yolks

In a small bowl, whisk the egg yolks with the remaining 1/2 cup sugar until smooth. To avoid curdling, slowly whisk 1/3 cup of the hot tapioca mixture into the yolks to raise their temperature. Then pour the tempered yolk mixture back into the saucepan, stirring constantly.

Finish cooking

Continue cooking the pudding over low heat, stirring constantly, until it thickens slightly and coats the back of a spoon, about 2–4 minutes. Do not boil once the yolks are added or they may curdle. Stir in the salt and, if using, 1 tsp vanilla extract now.

Cool and set

Remove from heat. If you used a vanilla pod, discard it. Spoon the pudding into individual serving dishes or into one shallow bowl. Place plastic wrap directly on the surface to prevent a skin from forming and cool to room temperature, then refrigerate for at least 2 hours (3–4 hours preferred) until fully chilled and set.

Optional Finishes & Garnish

Before serving, stir the pudding gently to loosen. Sprinkle with ground cinnamon and a light dusting of grated nutmeg if desired. Top with fresh berries or toasted coconut for texture. A small pinch of sea salt flakes on top right before serving brightens the flavors.