1 cup small-pearl tapioca
4 cups water
1 cup whole milk
1 cup sugar
1/2 teaspoon salt
4 egg yolks
1 teaspoon vanilla extract
In pressure cooking pot, mix together rinsed tapioca and water. Lock the lid in place and select manual high pressure with 6 minutes cook time. Use a natural pressure release for 10 minutes. After 10 minutes, release any remaining pressure with quick pressure release.
Whisk sugar and salt into tapioca in pressure cooking pot.
In a small mixing bowl, whisk egg yolks with milk. Pour through a fine mesh strainer into pressure cooking pot. Select saute and cook, stirring constantly, until mixture just starts to boil. Turn off pressure cooker and remove pressure cooking pot. Stir in vanilla.
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