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Plain whole milk has no fiber, so it leaves very little residue. Choose a product without added fruit, seeds, or fiber. If you prefer to always avoid whole milk, please tap it and change its rating to Red.
Combine the tapioca pearls, milk, and salt in a medium saucepan. Let stand for 5 minutes to begin softening the pearls.
Place the saucepan over medium heat and cook, stirring frequently, until the mixture just comes to a gentle simmer and the pearls begin to turn translucent at the edges, about 10–12 minutes. Do not let it boil hard.
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