Soak tapioca pearls in water for 15 minutes. (Water should be mostly absorbed after 15 min)

Add 1 cup whole milk and soak for 15 more minutes.

Vigorously whisk remaining milk, egg yolks, sugar and salt until yolks are completely incorporated. Transfer to a 3 quart pot over medium/low heat.

Add tapioca mixture. (liquid and pearls)

Heat and stir frequently for 15 minutes. Do not walk away from pot and stir almost constantly the last 5 minutes.

Remove from heat and stir in vanilla paste.

Transfer to airtight container. Refrigerate 4+ hours. Tapioca will thicken more as it cools.

Serve with preferred topping.