Drain tapioca and place in medium, heavy bottomed sauce pan. Add milk, maple syrup, salt, and cinnamon. Mix well and heat over medium-high heat. Stir often. When bubbles begin to form, lower heat to medium. Continue stirring over heat until ALL pearls are translucent (you don’t want any to be white).

It will seem like there is a lot of liquid. The tapioca will continue to absorb and thicken as it cools. Trust me on this—I doubted it the first few times I made it too!

Remove from heat. Add the vanilla. Allow pudding to fully cool and chill before serving—you can eat it warm, but it’s not nearly as yummy!