Combine the tapioca, sugar, and 1/2 cup of the milk in a saucepan. On medium heat, slowly add the rest of the milk in a steady stream and bring it to a boil, stirring constantly to prevent lumps.
When the mixture boils, lower the heat and gently simmer for 5 minutes, or until the tapioca fully cooks and the pudding begins to thicken. Remove from the heat, stir in the vanilla, and set aside to cool.
In four 8-ounce custard cups or parfait glasses, layer 1/4 cup of the fruit, then 1/4 cup of the tapioca. Repeat with a second layer of fruit and tapioca. If desired, sprinkle with toasted coconut.