Cook the tapioca pearls: Bring a pot of water to a boil and add tapioca pearls. Cook for 15 minutes, then turn off the heat, cover, and let sit for another 15 minutes. Drain and transfer to a large bowl of ice water to cool.
Make the rice balls: In a mixing bowl, combine glutinous rice flour with 1/3 cup water and mix until a dough forms. Roll into a large ball, then pinch off small pieces and roll between your palms to create bite-sized rice balls.
Cook the rice balls: Bring another pot of water to a boil. Drop the rice balls in and cook until they float to the top, about 2–3 minutes. Transfer immediately to an ice bath to stop the cooking and keep them chewy.
Prepare the mango: Peel and cut the mangoes into cubes. Place half of the mango cubes in a bowl and set aside for serving.
Blend the mango cream: Add the other half of the mango cubes to a blender along with the sweetened condensed milk and coconut milk. Blend until smooth and creamy. If the mixture is too thick, add a little more coconut milk until you reach your desired consistency.
Assemble the dessert: In your favorite dessert bowl (we all have one), pour in the mango cream base. Top with tapioca pearls, rice balls, and the reserved cubed mangoes. Serve chilled and enjoy!