1. Soak the Tapioca
Soak the pearl tapioca in cool water for 30-40 minutes. Drain any unabsorbed water from the tapioca.
2. Cook the Tapioca Mixture
Combine the tapioca, milk, half and half, and salt in a saucepan. Bring to a low simmer over medium heat, stirring almost constantly. Reduce the heat to low and slowly add the sugar, stirring constantly. Cook until the pearls are plumped and the pudding has slightly thickened, stirring constantly, for approximately 5-7 minutes. Be sure to scrape the bottom of the pan to prevent sticking.
3. Temper the Eggs
Remove the tapioca from the heat. Using a large spoon, add 2-3 tablespoons of the hot tapioca mixture to the beaten eggs in a small bowl and whisk vigorously to combine. Do this several times to ensure that the beaten eggs warm gradually, preventing them from scrambling.
4. Combine the Mixtures
Return the pan to medium-low heat and slowly add the egg mixture. Cook (but do not boil) until thickened to pudding consistency, stirring constantly, for approximately 3-5 minutes. Continue to scrape the bottom of the pan to prevent burning.
5. Add Vanilla and Cool
Remove from the heat. Wait 1-2 minutes and stir in the vanilla extract. Continue to stir frequently while it cools to prevent a skin from forming. Serve warm or cover with plastic wrap to further prevent a skin from forming.
