How to Make It
Whisk milk, egg, and sugar in a medium saucepan. Add vanilla bean and seeds and whisk in tapioca. Set saucepan over high heat and bring to a boil, whisking constantly, until mixture holds a boil when stirred. Remove from heat, let cool for 20 minutes, and then remove vanilla bean.
Meanwhile, beat cream with an electric mixer on medium-high until soft peaks form. Fold into cooled tapioca mixture. Divide mixture among 10 3-ounce ice pop molds.
Insert sticks and freeze until firm, at least 4 hours and up to 1 week. To unmold, dip molds in cold water to soften very slightly and remove pops. Transfer to a parchment-lined baking sheet and keep in the freezer until just before serving.