1. Beat milk, sugar, tapioca and egg in 4-cup measure, using wire whisk or hand beater, until well blended. Microwave uncovered on high 6 to 8 minutes, stiring every 2 minutes, until boiling. Stir in lemon peel and vanilla. Let stand uncovered 5 minutes; stir.
2. Pour into 4 dessert dishes. Cover and refrigerate about 15 minutes or until set. Serve warm or cold with berries. Immediately refrigerate any remaining tapioca.