This creamy pudding seems much richer than it actually is. I prefer making it with low-fat (2%) or whole milk, but it is very good using fat free. Substituting unsweetened coconut milk for a cup of the milk makes an interesting variation. Note that smaller pearls will cook faster than larger ones so the cooking times will vary. Responding to Mianbao, I found that small pearls require more milk, say an extra cup during cooking. The mixture should be similar to oatmeal cooking. Keys to success are maintaining a very low heat, stirring often and cooking until the pearls are completely translucent--no white spots in the center! (Prep time assumes you already soaked the pearls and NOTE: This recipe doesn't work with "minute" tapioca).