Begin by bringing a medium pot of water to a rapid boil. Once boiling, add the uncooked tapioca pearls and lower the heat to medium. Cook for about 15 minutes, or until translucent and soft, stirring occasionally. Drain and rinse under cold water to stop cooking. Set aside to cool.

While the pearls are cooling, peel and dice the ripe mangoes, reserving some for garnish. In a blender, combine the diced mangoes with coconut milk and blend until smooth and creamy.

In a large mixing bowl, gently stir together the cooled tapioca pearls and the mango mixture. If adding sweetened condensed milk, do so now or use sugar for the vegan option. Mix until combined.

Spoon the mixture into individual serving bowls and top with reserved mango cubes. Optionally, add pomelo pulp for a citrusy twist.

Place the bowls in the refrigerator for at least 30 minutes to chill before serving.