Preparation Whisk milk, sugar, tapioca and lemon peel in heavy medium saucepan to blend. Let stand 5 minutes. Stir over medium heat until mixture thickens and boils, about 5 minutes. Remove from heat. Mix in vanilla. Cover and chill until cold, at least 4 hours. (Can be prepared 1 day ahead. Keep refrigerated.) Spoon into small bowls. Spoon Lemon Sauce over and serve.
Preparation Whisk milk, sugar, tapioca and lemon peel in heavy medium saucepan to blend. Let stand 5 minutes. Stir over medium heat until mixture thickens and boils, about 5 minutes. Remove from heat. Mix in vanilla. Cover and chill until cold, at least 4 hours. (Can be prepared 1 day ahead. Keep refrigerated.) Spoon into small bowls. Spoon Lemon Sauce over and serve.