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A delicious, creamy, egg-free Tapioca Pudding with pantry ingredients - milk, tapioca pearls and condensed milk. Sharing easy method to prepare pudding on Stove Top or in Instant Pot.

Tapioca Pudding

An easy recipe for Tapioca Pudding with tapioca pearls cooked in milk, condensed milk, and vanilla. This pudding is egg-free and naturally creamy with starch released from cooked Tapioca Pearls. Sharing easy method to cook Tapioca Pudding in Instant Pot (or Stove Top). With Instant Pot quick pressure cooking, you can have this amazingly and creamy dessert ready in just 5 minutes of cooking. I highly recommend it. 

If you like lite and chilled desserts such as this egg-less tapioca puddings? Then I highly recommend trying my recipe for Instant Banana Pudding, Lemonade Sorbet, Ambrosia Salad,  No Bake Cream Cheese Pie.

Let's make Tapioca Pudding today!

Pearl Tapioca Pudding Recipe

TAPIOCA PUDDING

Traditional Tapioca pudding is made with tapioca pearls boiled in egg-based custard of milk, egg yolks and vanilla. Egg yolks make pudding creamy and rich. 

This recipe is a lite and healthier variation of traditional pudding with egg. Tapioca pearls release natural starch which is perfect to make a creamy pudding without eggs. Plus I use condensed milk instead of regular sugar which gives this pudding flavor as if cooked low-slow for a long period of time. The touch of vanilla keeps the same custard-like flavor.

In short, this is an easy egg free tapioca pudding recipe which is suitable for gluten-free, nut-free and egg-free diet. A very good option for an easy chilled family/festive dessert. Don't forget to serve with spoon of strawberry sauce. (recipe in notes)

Nuts-Free: To keep it nuts free, don't garnish with pistachios. 

Egg-free Tapioca Pudding

TAPIOCA PUDDING INGREDIENTS:

This pudding recipe needs simple pantry ingredients and still makes an amazing tapioca pudding.

  1. Tapioca Pearls
  2. Milk
  3. Condensed Milk
  4. Vanilla

Often, I have seen everyone struggle a bit to find right kind of pearl tapioca. I used medium size tapioca pearls for this recipe. Medium pearls are same size as pearl couscous. (Smaller or large pearls will require adjustment of cooking time.)

For large Tapioca Pearls like you get in boba tea.. Cook for simmer 5-10 minutes more on stove top. 2 minutes more in Instant Pot. Best way to check if pudding is ready? Press a cooled cooked tapioca pearl and it should be very soft.

For very small Tapioca Pearls like size of regular couscous. Cook for simmer 5-10 minutes lesser on stove top. 2 minutes less in Instant Pot. 

Easy Creamy Tapioca Pudding Recipe

HOW TO MAKE DAIRY FREE TAPIOCA PUDDING with COCONUT MILK:

You can easily change this recipe to make it dairy free by replacing regular milk with coconut milk, and sugar instead of condensed milk. In-fact these two adjustments will also make this recipe vegan.  You can also replace sugar in pudding with other natural sweeteners like agave syrup or even sugar free with Stevia.

HOW TO MAKE TAPIOCA PUDDING?

To make tapioca pudding on stove top, I start by:

  • Bring milk and water to boil in heavy bottom pan. Then add tapioca pearls, 2 tbsp of sugar and pinch of salt. Simmer for 15-18 minutes or until pearls are translucent (SEE NOTE 2) and milk has reduced and has thick consistency.
  • Now add condensed milk, vanilla and mix well. Simmer for another 5 more minutes. Take off heat. 

Note: Pudding has more liquid when just cooked. Tapioca drinks up milk and pudding becomes thick and creamy in 1-2 hour. Just like shown in pictures.

TO MAKE TAPIOCA PUDDING IN A INSTANT POT:

  • Add 2 cups of water and 2 cups of milk in Instant Pot. Add tapioca pearls, sugar, salt and close lid of pot. Seal the vent. Cook on Manual - High Pressure for 5 minutes. 
  • Once timer is up. Let pressure natural release in 12-15 minutes. Open lid, add condensed milk and vanilla. Mix well. Set aside covered 5 minutes (Instant Pot switched off).

Tapioca Pudding Instant Pot

Note: Pudding has more liquid when just cooked. Tapioca drinks up milk and pudding becomes thick and creamy in 1-2 hour.

Easy Pearl Tapioca Pudding

In my home, this Tapioca Pudding is quick and delicious family-favorite summer dessert. I hope it will make same space in your home. Get some pearl tapioca and milk tonight. Make this dessert and surprise your family with a sweet treat. I highly recommend Instant Pot method for quick turnaround. It requires no perching on stove and yields equally creamy pudding. 

Have a beautiful Spring week ahead. -Savita

Pairing Ideas:

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Tapioca Pudding

Tapioca Pudding
Total Time Prep Time Cook Time Difficulty Easy Yields 6, 1/2 Cup Servings Serves 6
Smart Swap Replace Tapioca Pearls with Rice to make Rice Pudding.

Ingredients

    Pudding
  • 2 Cup Milk  (whole fat milk)
  • 3/4 Cup Tapioca Pearls  (medium pearls (See Note 6))
  • 3/4 Cup Sweet Condensed Milk  
  • 1/8 tsp Salt  
  • 2 tbsp Sugar  
  • 1/2 tsp Vanilla Extract  (or 1/2 tsp cardamom powder)
  • Garnish
  • 2 tbsp Pistachio  (crushed, optional )
  • 5-6 Strawberries  (See Note 5 for Strawberry Sauce recipe)

Directions

  • 1. Add 2 cups of water and 2 cups of milk in a heavy bottom deep sauce pan. Bring to boil. Add tapioca pearls, salt, and sugar. Simmer for 15-18 minutes or until pearls are translucent (SEE NOTE 2) and milk has reduced and has thick consistency. Stir 2-3 times in between so that pearls don't catch at the bottom.
  • 2. Now add condensed milk, vanilla and mix well. Simmer for another 5 more minutes. Take off heat. (SEE NOTE 3) Garnish with chopped pistachios, or fresh strawberries, or strawberry sauce (SEE NOTE 5 for recipe). Serve chilled or at room temperature.
Savita's Notes:
  1. TO MAKE TAPIOCA PUDDING IN A INSTANT POT:
    a) Add 2 cups of water and 2 cups of milk in Instant Pot. Add tapioca pearls, sugar, salt and close lid of pot. Seal the vent. Cook on Manual - High Pressure for 5 minutes. 
    b) Once timer is up. Let pressure natural release in 12-15 minutes. Open lid, add condensed milk and vanilla. Mix well. Set aside covered 5 minutes (Instant Pot switched off). 
    c) Pudding has more liquid when just cooked. Tapioca drinks up milk and pudding becomes thick and creamy in 1-2 hour.
  2. Tapioca pearls are fully cooked when can be mashed easily if pressed between two fingers. 
  3. Pudding has more liquid when just cooked. Tapioca drinks up milk and pudding becomes thick and creamy in 1-2 hour. Just like shown in pictures.
  4. Agave is sweeter than sugar so use less quantity to start with and then mix more later after tasting and per your liking.
  5. Strawberry Sauce : Slice 1/2 pint strawberries. Add to sauce pan with 1/4 cup of sugar and 1 tbsp of lemon juice. Bring to boil. Then simmer on medium heat until strawberries are soft and sauce is thick.  Take off heat and let cool before using. Yields: 1/2 Cup Sauce.
  6. I used medium-size pearl tapioca for this recipe. Medium Pearl Tapioca is same size as Pearl Couscous. Pearls look plum and bigger after cooking.
First published: April 29, 2013. Added new pictures, and Instant Pot cooking method on March 25, 2019.

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10 comment(s)

  1. Could I use powdered cardamom and if so, how much?

    Hi Pepper, you can use cardamom powder. 1/4 tsp for subtle flavor which I get by 2-3 whole cardamoms in this recipe. I hope it helps.
  2. This reminds me of what my grandmother gave me when I was a kid. I'm 72 now and still love the stuff. Believe it or not, we used to call them frogs eyes. LOL.

    Hi Barry, thanks for sharing your thoughts. I can totally connect with your grandma's food experience. I have gown up with fond memories of my grandma's cooking. :)
  3. Delicious and easy! My daughter is allergic to eggs so this recipe was perfect.
  4. Excellent recipe. Will try it soom....
  5. I love Tapioca, got pack today from Chinese store, have to try this egg free pudding
  6. HI, I tried Tapioca Pudding recipe with lowfat milk and Agave Syrup, really loved the results. Thanks.
  7. HI, I tried Tapioca Pudding recipe with lowfat milk and Agave Syrup; really loved the results. Thanks!!
  8. Chef, my son is allergic to eggs. I think this pudding is a contender in my quest to make allergy free desserts for my kid. However, I will use Agave Syrup instead of sugar. Thanks for the recipe.