Homemade Tapioca Pudding [Sugar & Gluten Free with Dairy Free Option]

This tapioca pudding is a light dessert or snack for anytime of the day for less than 60 calories per serving and only 1 Weight Watcher Points Plus!!!

It’s made here with coconut milk for a dairy free version or you can make it with 1% milk. Both are equally delicious! The coconut milk provides a much thicker pudding and the 1% milk creates a more loose and yogurt style texture. Either option is terrific!



My boys absolutely love tapioca so I was on a mission to make my own. I purchased organic small pearl tapioca, a 6 ounce box at Whole Foods and adapted the recipe right from the back of their box. I’ve made this recipe 3 times with that little box before I found the perfect combination of stevia to use.

The first time I made it I used coconut milk for myself and powdered stevia which is what is pictured. I wasn’t even a fan as the taste is so delicate, the powdered stevia flavor wasn’t easily masked as it often is in many of the baking recipes I use it for. So my trusted liquid stevia was my next option. I used Half and Half as I was out of milk which made a nice and creamy pudding. Adding even too much vanilla creme stevia made it way to sweet, but I was not going to quit! The last time I made it with 1% milk and reduced the amount of stevia to what you see in the recipe below,.

Perfecto, finally!

If I’m feeling ambitious I will try again using unsweetened almond milk for myself. Since my boys have a nut allergy and wouldn’t be able to have it this way, I chose the milk. It makes 4 servings or you could double the recipe and have more in your servings. Enjoy!




4.0 from 1 reviews
Homemade Tapioca Pudding [Sugar & Gluten Free with Dairy Free Option]
Nutrition Information
  • Serves: 4
  • Serving size: 1/4th
  • Calories: 57
  • Fat: 0g
  • Carbohydrates: 12g
  • Sugar: 0g
  • Sodium: 96mg
  • Fiber: 0g
  • Protein: 2g
  • Cholesterol: 2mg
Prep time: 
Cook time: 
Total time: 
  • 2 cups water
  • 3 tablespoons small pearl tapioca
  • 2/3 cup milk, 1% or coconut milk for dairy free option
  • 1/8 teaspoon salt
  • 1/4 teaspoon vanilla liquid stevia
  1. In a saucepan, bring water to a boil.
  2. Whisk in tapioca pearls and continue to stir frequently for 17 minutes.
  3. Reduce heat to a low simmer.
  4. Whisk in milk, salt and stevia and continue to stir frequently for another 10 minutes. Pour into serving bowls and refrigerate covered until chilled.
  5. Makes 1 1/4 cups total.
Weight Watchers PointsPlus: 1*




  1. Charlotte Moore says

    I did not know you could buy tapioca pearls. I think this is the first recipe I have ever seen that called for it. I learned something just now. Haha!!!

  2. Gretchen Schlier says

    If I use plain liquid stevia, I have Nu Naturals, how much vanilla do you think I should add? I may experiment with almond milk…My kids hate coconut!

    • Brenda says

      Did you follow the time amounts on the stove? I’ve made it with coconut milk in the can the first time I made the recipe and it worked fine. The second time I made it with milk for my kids and same time worked as well. Sorry it didn’t set up for you.

  3. Theresa says

    I had success with vanilla almond milk. I added additional vanilla to the almond milk and used regular liquid Stevia in the same amount. Delish!


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