In a 2-quart saucepan, mix all ingredients except vanilla; let stand for 5 minutes.
Over medium-high heat, bring to a boil, stirring constantly.
Remove from heat and stir in vanilla; let stand for 20 minutes, then stir.
Spoon pudding into individual dessert dishes. Cover with plastic wrap and refrigerate until cold, or pudding can be eaten warm, if desired. Serves 4-6.
Recipe by The Culinary Cellar at https://theculinarycellar.com/chocolate-tapioca-pudding/