A decent amount of hands-on work, but delightful warm or cold. The milk can be replaced with dairy-free alternatives. Makes 3½ cups.

Ingredients Step
⅓ c. small pearl tapioca
¾ c. water
Soak in a saucepan for 30 minutes. Do not drain if there is remaining water.
2 eggs Separate, putting the whites into the bowl of a stand mixer and putting the yolks into the saucepan with the tapioca pearls.
2¼ c. milk
¼ c. sugar
¼ t. salt
2 egg yolks (from above)
Add to saucepan. Stir over medium heat until boiling, then simmer uncovered for 10-15, stirring often.
¼ c. sugar
2 egg whites (from above)
Beat together until soft peaks form, maybe 5 minutes. (The egg whites should quickly curl and fall into themselves, not holding their shape.)
OPTIONAL ADD-INS
2 T. unsweetened cocoa powder PLUS 2 T. sugar
1 oz. dark chocolate pieces
⅔ c. finely chopped fruit (dry or fresh)
Stir in to hot tapioca mixture. Let cook ~1 minute.
Temper the egg whites with the hot tapioca (transfer at least ¾ c. tapioca). Then gently fold the warmed egg whites into the hot tapioca mixture in the saucepan.
Stir and cook pudding over low heat for another ~3 minutes.
½ t. vanilla Cool 15 minutes, then add vanilla.

Source: Bob's Red Mill