Start by soaking the small pearl tapioca in water for about 30 minutes to soften the pearls.
In a medium saucepan, combine the soaked tapioca, almond milk, coconut milk, honey or maple syrup, sea salt, and vanilla. Stir well to combine.
Place the saucepan over medium heat, stirring frequently to prevent sticking. Once it begins to simmer, reduce the heat to low.
Continue to simmer on low heat for about 15-20 minutes, stirring occasionally until the tapioca pearls become translucent and tender.
Remove from heat and let cool slightly. Serve warm or chilled, topped with fresh fruits and an extra drizzle of honey or maple syrup if desired.