Step 1: Mix together water, tapioca and salt in large saucepan. Heat to boil over medium heat. Reduce heat to low; simmer, stirring occasionally, 15 minutes.
Step 2: Stir in brown sugar; continue to simmer, stirring occasionally, until thickened, 20 minutes. Remove from heat.
Step 3: Meanwhile, combine egg yolks, milk and sugar in small saucepan; cook over low heat, stirring constantly until thick enough to coat back of spoon.
Step 4: Remove from heat; stir in butter and vanilla extract.
Step 5: Stir into tapioca mixture. Pour into custard cups or bowls. Chill completely before serving, about 3 hours or overnight.
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