Test a pearl to see if it has reached the desired level of softness.
However, if you leave the pearls in their cooking water, the pearls retain their soft texture for a longer time.
Cooked pearls will last 4 hours at room temperature.
Then turn it out onto a smooth work surface, and knead the dough until it becomes nice and smooth.
I also use dark brown sugar simple syrup.
Pour in the milk and salt; stir while bringing to a bare simmer.