• Skip to primary navigation
  • Skip to main content
  • Skip to primary sidebar
Fearless Dining
  • New to GF? Start Here
  • GF Resources
    • Safe Gluten Free Dining Tips
  • Recipes
  • GF Cookbooks
    • Pantry
  • About Me
menu icon
go to homepage
subscribe
search icon
Homepage link
  • Home
  • New to GF? Start Here!
  • Recipe Index
  • Check Out My Gluten Free Cookbooks!
  • Gluten Free Dining Tips
  • About Fearless Dining
  • Contact Me
  • Follow Along

    • Facebook
    • Instagram
    • Pinterest
    • Twitter
  • ×

    Home » Recipes » Pudding Recipes

    Homemade Creamy Tapioca Pudding

    Published: Apr 27, 2015 · Modified: Dec 7, 2020 by Sandi Gaertner · 36 Comments · This post may contain affiliate links

    Jump to Recipe Print Recipe

    This is an easy homemade tapioca pudding recipe that is topped with gooey caramel! If you love homemade tapioca pudding, then you may enjoy this 5-ingredient easy tapioca pudding recipe.

    It is easy to make and can be enjoyed warm or cold. Keep reading because I also include a dairy-free option for this tapioca pudding recipe.

    two jars filled with tapioca pudding
    Jump to:
    • What is tapioca anyway?
    • Ingredient notes:
    • Instructions to make this:
    • Fun Swaps:
    • Can you make this dairy-free?
    • Expert Tips and Recipe FAQ:
    • More pudding recipes to Try:
    • Recipe
    • Community

    What is tapioca anyway?

    Tapioca pudding is one of the puddings that are true comfort food. I had no idea that tapioca comes from cassava roots. Did you know this? I order Boba tea all of the time and it never occurred to me to ask.

    My daughter is the one who inspired me to create this caramel tapioca recipe. She loves the thick creaminess of tapioca pudding and often asks me to buy it when she comes grocery shopping with me. The ingredients in store-bought tapioca pudding are not great and  I knew we could make it more healthy here at home.

    This old-fashioned creamy caramel tapioca pudding with caramel sauce is the best tapioca pudding recipe I've ever made! If you love pudding, you are going to love these mouthwatering Gluten Free Pudding Recipes...I can't wait to hear which ones you try!

    tapioca pudding ingredients

    Ingredient notes:

    • Small tapioca pearls - you can use a large pearl size too.
    • Milk - you can use dairy milk or a non-dairy milk
    • Caramel - I use store-bought caramel (just make sure to check the ingredients to ensure it is gluten free!)

    Instructions to make this:

    tapioca pudding photos of steps 1 and 2

    Step 1: Soal the tapioca pearls. Double-check the soak time on the brand of tapioca pearls you buy. The instructions said to soak them in water overnight, so we set this up before bedtime. This is what they look like after the soaking (above). See how puffy they are?

    Step 2: I do not own a double boiler, so I just put water into a large saucepan and then put a smaller one inside. Heat the milk and caramel on low heat until it is warm.

    Tip: You want to use a double boiler or two pots to prevent your pudding from burning.

    photos of the tapioca pudding cooking

    Step 3: Add the tapioca and allow to very gently boil over medium-low heat. It will thicken quickly.

    Top Tip: Whisk frequently to avoid it getting stuck on the bottom of the pot!

    Step 4: This homemade tapioca pudding really thickens up after adding the egg yolk and sugar combination.

    Check out my fun tapioca pudding web story too.

    Fun Swaps:

    Change up your tapioca pudding flavors by adding different flavor combinations! Here are a few ideas:

    • Add a teaspoon of pumpkin spice for a fall holiday treat.
    • Sprinkle with toasted coconut.
    • Add chocolate shavings on top.
    • Add vanilla or almond extract for a nutty flavor.

    *If you are a true caramel addict, you MUST try this Gluten Free Caramel Apple Cake!

    Can you make this dairy-free?

    You can easily make this tapioca pudding dairy-free by using non-dairy milk instead of regular milk. I have used both coconut and almond milk successfully. Trust me, coconut milk tapioca pudding is really, really yummy!

    a small mason jar filled with tapioca pudding

    Expert Tips and Recipe FAQ:

    Is tapioca gluten free?

    Yes, most tapioca is gluten free. Tapioca is typically made from tapioca plant. Just to be extra cautious, always check the ingredient label.

    What is tapioca made of?

    Tapioca balls are made with tapioca (from the cassava root). You can buy tapioca balls in many different sizes.

    Can you soak tapioca pearls too long?

    You can't really soak the tapioca pearls too long, but they will get mushier if you over soak them. 

    Is tapioca vegan?

    Tapioca pearl are vegan, but this recipe does have egg yolks in it so my recipe is not vegan.

    How long will tapioca pudding keep?

    This tapioca pudding will keep fresh in the refrigerator for up to 4 days in an air-tight container.

    Is store-bought tapioca pudding gluten free?

    If you don't have time to make homemade tapioca pudding, Cozy Shack pudding is gluten free and you can find it at most grocery stores!

    More pudding recipes to Try:

    • Creamy Dark Chocolate Custard
    • Gluten Free Bread Pudding
    • Matcha Green Tea Chia Pudding

    Recipe

    Caramel Tapioca Pudding

    Sandi Gaertner
    Creamy caramel tapioca pudding recipe.
    5 from 9 votes
    Print Recipe Pin Recipe Add to Collection Go to Collections Save RecipeSaved!
    Prevent your screen from going dark
    Prep Time 10 mins
    Cook Time 15 mins
    Total Time 25 mins
    Course Gluten Free Dessert Recipes
    Cuisine American
    Servings 6
    Calories 202 kcal

    Ingredients
      

    • ½ cup small tapioca pearls
    • 2 ½ cups milk I used raw whole milk for this so it would be really creamy.
    • ⅛ teaspoon salt
    • ¼ cup caramel
    • ¼ cup sugar
    • 2 egg yolks

    Instructions
     

    • Soak tapioca pearls overnight in a bowl of water.
    • Drain pearls.
    • In a double broiler, or two different sized sauce pans like I did in the photo above.
    • Add milk, caramel, vanilla, and salt to double broiler and heat until warm.
    • Add tapioca pearls and heat until and tiny bubbles appear.
    • Do not boil.
    • In a small bowl, add egg yolks and sugar.
    • Mix well.
    • Use a soup ladle to scoop up a bit of the hot tapioca mixture.
    • Add very slowly to the egg mixture while whisking quickly to blend it.
    • Add a little more tapioca mixture and repeat twice more.
    • Pour egg mixture into tapioca mixture and whisk quickly to blend it all in.
    • Cook on low, uncovered for 15 minutes.
    • Serve warm or cold.

    Notes

    1. Most tapioca pearls are gluten free but always double-check the label.
    2. Soak the tapioca pearls overnight. You can use small or large tapioca pearls.
    3. You can make this recipe dairy-free by using non-dairy milk like coconut milk.
    4. I highly recommend using a double boiler or two pots to make this recipe. It reduces the risk of the pudding burning on the bottom of the pan.

    Nutrition

    Calories: 202kcalCarbohydrates: 35gProtein: 6gFat: 5gSaturated Fat: 3gPolyunsaturated Fat: 2gCholesterol: 74mgSodium: 162mgSugar: 19g
    Tried this Recipe? Pin it for Later!Mention @FearlessDining or tag #FearlessDining!

    Nutrition Disclaimer

    Nutritional information is an estimate provided to you as a courtesy. You should calculate the actual nutritional information with the products and brands you are using with your preferred nutritional calculator.

    lemon e-cookbook cover image

    If you love the recipes you are finding on my blog, I would love for you to sign up for my newsletter (and get my free gluten free lemon desserts e-cookbook!)

    Save

    « Dragon Fruit Salsa
    Easy Gluten Free Lemon Tart »

    Reader Interactions

    Comments

    1. Jennifer

      May 25, 2018 at 5:03 pm

      You said you edited the recipe where can I find the edited copy?

      Reply
      • Sandi Gaertner

        May 26, 2018 at 9:54 am

        Hi Jennifer, The edited copy is the only one there.

        Reply
    2. Patty K-P

      March 09, 2018 at 9:23 am

      5 stars
      I go weak at the knees for tapioca pudding! With that caramel sauce...I'm melting 🙂

      Reply
      • Sandi Gaertner

        March 09, 2018 at 9:58 am

        LOL, you and my daughter both go weak at the knees over tapioca pudding.

        Reply
    « Older Comments

    Leave a Reply Cancel reply

    Your email address will not be published. Required fields are marked *

    Recipe Rating




    Primary Sidebar

    • Facebook
    • Instagram
    • Pinterest
    • Twitter
    A picture of my face standing in front of landscape bushes

    Welcome to my blog! I am so glad you are here. I have created hundreds of delicious family-friendly gluten free recipes with easy step-by-step directions. Many recipes are also dairy-free. A gluten free lifestyle has never been easier!

    More about me →

    Easy Dinner Recipes:

    • Gluten Free Skillet Lasagna
    • Gluten Free Quiche with Sausage and Tomato
    • Italian Gluten Free Meatloaf Recipe
    • How to Fire-Roast Hatch Chiles and The 12 Best Hatch Chile Recipes!
    • How to Make Gluten Free Ramen Soup
    • Quick & Easy Ground Pork Fried Rice

    More Dinner Recipes!

    Trending Gluten Free Recipes:

    • 8 Tasty Ways To Enjoy Shishito Peppers {Easy Recipes}
    • The Best Gluten Free Blueberry Scones
    • Proposition Chicken's Gluten Free Fried Chicken Recipe
    • Sweet Gluten Free Apple Fritters
    • The Best Flaky Gluten Free Biscuits
    • The Best Gluten Free Bread Machine Bread {Dairy Free Too!}

    Click for more Trending Recipes.

    • Email
    • Facebook
    • Instagram
    • Pinterest
    • Twitter

    Footer

    ^ back to top

    About

    • About Me
    • Privacy Policy
    • Terms & Conditions
    • Accessibility Policy

    Newsletter

    • Sign Up!

    Contact

    • Contact
    • Work With Me
    • Web Stories

    Copyright © 2014-2022 Fearless Dining