Mix tapioca and water inside your Instant Pot.
Cook at high pressure for about 7 minutes.
Let the steam release naturally for about 10 minutes.
Add sugar and stir slowly.
In a small bowl, whisk egg yolks and milk.
Slowly pour the mixture into your Instant Pot, while stirring constantly.
Select “Sauté” and cook until it starts to boil, then turn off you Instant Pot.
Add vanilla and keep stirring, until you obtain a homogeneous texture.
Keep in mind that your dessert will be firmer when it cools, so that you can choose to serve a smooth hot custard or a firm and cold pudding, as you prefer.