Pour tapioca, salt, coconut milk, mangos, and Sucanat into a medium-sized saucepan. Bring to a boil then immediately reduce to simmer, stirring constantly for 12–15 minutes.
Add soy milk, vanilla, cinnamon, and ginger. Bring back to a boil, stirring constantly, for 3–5 minutes and then remove from heat.
Pour into serving dishes and refrigerate until thickened.