For white tapioca pearls:

In a medium saucepan, bring 6 cups of water to a boil over medium-high heat.
Add tapioca pearls and turn the heat down to medium-low. Cook for 30 minutes, stirring occasionally to prevent them from sticking to the bottom of the pan.
Turn off the heat and let the pearls rest in the hot water for another 30 minutes.
Rinse the pearls under running water to cool and drain well.
If you still see a white dot in each pearl, repeat the previous steps by boiling the pearls for 30 minutes and letting them sit for 30 minutes until all the tapioca pearls become completely transparent.
Drain well and transfer into a bowl. Stir in honey to prevent them from sticking together.
For mini sago pearls:

In a medium saucepan, bring 6 cups of water to a boil over medium-high heat.
Add sago pearls and turn the heat down to medium-low. Cook for 15-20 minutes, stirring occasionally to prevent sticking to the bottom of the pan. At this point, you might still see a tiny white dot in each pearl.
Turn off the heat and let the pearls rest in the hot water until all the tapioca pearls become completely transparent, about 15-20 minutes.
Rinse the pearls under running water to cool. Drain well and set aside in a bowl. Stir in honey to prevent the pearls from sticking together.