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Cook the sago (tapioca) pearls in the Instant Pot Plus in just 5 minutes using the Rice function.
For the milk jelly: Combine the whole milk, agar agar powder and sugar in a saucepan. Bring to a boil, then reduce heat and simmer for 2-3 minutes, stirring constantly, until the agar agar has dissolved. Pour into a mould and refrigerate until set.
In a large bowl, combine the cooked sago pearls, evaporated milk, sweetened condensed milk and ground cardamom seeds.
Fold in the chopped mangos, strawberry jelly crystals and lychee jelly crystals.
Serve chilled, with the milk jelly on the side.