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Blend the mango. Add the diced mango, coconut milk, sugar, and vanilla extract to a blender. Blend on high speed for 10-15 seconds or until completely smooth. Transfer to a large mixing bowl and set aside.
Cook the tapioca pearls. Bring about 6 cups of water to a boil in a large pot. Once boiling, add the tapioca pearls and let them simmer for 20 minutes. Check doneness after 17-18 minutes: the pearls should be translucent, tender, and slightly chewy.
Drain them. Once the tapioca pearls are cooked, drain them using a fine-mesh strainer. Be careful, do not use a regular strainer, otherwise the pearls may pass through!
Rinse them. Next, rinse the pearls 2-3 times under cold water to cool them down and stop the cooking process. Drain them well one more time.
Assemble. Transfer the cooked tapioca pearls to the bowl containing the mango purée and stir to combine. At this point, you can taste and adjust the sweetness to your liking.
Refrigerate. Cover with plastic wrap and refrigerate for at least 4 hours before enjoying!