What is the best way to cook small pearl tapioca to achieve a perfect texture and consistency?

To achieve a perfect texture and consistency when cooking small pearl tapioca, soak the tapioca in water for at least 30 minutes before cooking. Then, simmer the tapioca in a mixture of water and milk, stirring frequently, until the pearls are translucent and tender. Add sugar and flavorings as desired towards the end of cooking.