Cut the vanilla bean in half lengthwise. Remove the seeds with the tip of a knife.
In a double boiler, heat the milk with the vanilla bean and seeds (or vanilla extract) and salt. Add the tapioca pearls.
Cook over low heat, stirring regularly, until the tapioca is translucent, about 40 minutes.
In a bowl, combine the egg yolks and maple syrup. Add a little hot tapioca mixture. Stir to blend. Pour the mixture back into the double boiler, stirring until thickens.
Pour into a bowl and cover with plastic wrap. Let cool, then refrigerate for about 2 hours.
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