Pour milk in a saucepan and add vanilla bean and seeds, cardamom pods and sugar. Bring to a boil.
Rinse tapioca under cold water and add to the milk. Cook on medium heat until soft and translucent. Allow to cool.
Discard the cardamom and vanilla bean pod, then add the eggs. Divide the batter between the 12 ramekins and cook in a bain marie for 30 minutes, or until the middle of each pudding is set. Remove from the oven and let cool before placing in the fridge.
Serve in ramekins or unmold. For easy unmolding, place the bottom of the ramekins in hot water. Run the blade of a knife around the inside edge of each ramekin to help unmold. Gently turn over onto plates.