I got this recipe from food.com. I like this site because you can change the servings to however many people you want to serve. I doubled this recipe.
When I make it I put extra vanilla in to make it taste even better.
Simple Tapioca Pudding
1/2 cup tapioca
3 cups 2% low-fat milk (if pearls are soaked overnight, use 2-1/2 cups milk)
1/4 teaspoon salt
1/2 cup sugar
1/2 teaspoon vanilla
1. I recommend soaking the tapioca
pearls in 2 cups of water the night before as it reduces some of the excess
starch and means less cooking time.
2. In a 1-1/2 quart saucepan,
combine the tapioca pearls, the milk, and salt. Stir frequently on medium-high
heat until the mixture comes to a boil. Reduce heat to minimum and simmer 5
minutes. Add the sugar gradually, stirring constantly.
3. In a separate bowl, beat the 2
eggs. A little at a time, add some of the tapioca mixture to the eggs and
continue stirring. This is "tempering" the eggs and will bring them up to
temperature gently, preventing the eggs from scrambling.
4. Add the tempered egg mixture to
the tapioca. Gently bring the mixture back up to near-boiling. Reduce heat to
minimum and simmer, stirring constantly, until desired consistency is reached.
Pearls should be translucent and gelatinous.
5. Allow tapioca to cool 15 minutes
before adding the vanilla. Serve warm or chill until serving time.
Cassava is the third-largest source of food carbohydrates in the
tropics. Cassava is a major staple food in the developing world, providing a basic diet
for around 500 million people. It is one of the most drought-tolerant crops, capable of growing on marginal soils.
You can do more reading on Tapioca here.