In a large pot, bring 4 cups of water to a boil. Add the tapioca pearls and reduce the heat to medium. Stir occasionally to prevent sticking. Cook until the pearls become translucent, about 15-20 minutes. Once cooked, drain and rinse the tapioca under cold water to remove excess starch.
In another pot, combine the coconut milk, sugar, and a pinch of salt. Bring to a gentle boil over medium heat, stirring occasionally to dissolve the sugar. Once boiling, reduce the heat to low and add the cooked tapioca pearls and sliced bananas. Simmer for about 10 minutes, allowing the flavours to meld together.
If using, stir in the vanilla extract and cook for an additional 2 minutes.
Ladle the warm pudding into bowls and garnish with toasted sesame seeds or crushed peanuts for added texture and flavour. This pudding can be enjoyed warm or chilled, depending on your preference.
