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Add milk along with tapioca pearls and a large dash of salt to a medium-sized pan. Place on low heat and stir occasionally with a silicone spatula.
It varies per type of pearls how long with will take until they're done, it's best to taste whether they have already softened.
As soon as the pearls are soft, gradually add the sugar and keep on stirring. Add the eggs one at a time, keep stirring to prevent it from burning and creating lumps.
Stir in the vanilla extract and let it cook shortly until the eggs are cooked. You can now serve this soft and delicious pudding warm, lukewarm or cold. Enjoy!