Rinse tapioca under cold running water for about 30 seconds, to remove excess starch, and drain well. Place the insert into Instant Pot, then add cold water and tapioca to insert and stir. Cook at high pressure for 6 minutes. Once cooking is completed, use a natural pressure release for 10 minutes.

Meanwhile, as tapioca is cooking in the pressure cooker: Whisk together the egg yolks and milk in a small bowl and set aside.

Once the 10-minute natural release is completed, manually release any remaining pressure. Turn the Pressure Cooker off of the warm setting and turn it on, to Saute setting. Quickly, whisk in sugar and salt into cooked Tapioca. Then pour the egg/milk mixture into the pot through a fine mesh sieve. Stir constantly until the mixture just begins to boil.

Then turn off the pressure cooker and remove the insert. Stir in vanilla bean paste and vanilla. Pour into a refrigerator-safe container (with a lid) and let cool, uncovered, to room temperature, stirring occasionally to dissipate the heat.

Spoon tapioca into pretty serving dishes and refrigerate or store in a covered container in the refrigerator.